# 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_2v7n.rte # Mission File: Endeavour2008_2v7n.cfg # Distance: 81074.856003 (m) # Estimated Time: 57929 (s) 16.091 (hr) # Abort Time: 63000 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2533 (s) # Way Points: 47 # Route Points: 787 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 83 # Multibeam transmit gain: 210 # 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: 2362.97869 (m) # Abort Vehicle Depth: 2382.97869 (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 -129.095059 47.973781 -2079.230591 0.000000 3 # 1 -129.094212 47.971743 -2080.587280 235.170041 3 # 2 -129.118168 47.930550 -2107.636414 5150.568598 4 # 3 -129.116071 47.929980 -2113.124512 5319.532708 3 # 4 -129.092070 47.971203 -2113.711243 10239.266490 4 # 5 -129.089974 47.970633 -2156.001282 10408.047690 3 # 6 -129.113930 47.929441 -2153.696594 15323.355530 1 # 7 -129.111878 47.928841 -2179.434265 15490.513412 3 # 8 -129.087921 47.970034 -2167.898254 20405.958891 4 # 9 -129.085780 47.969494 -2182.410278 20576.660413 3 # 10 -129.109737 47.928302 -2187.747803 25492.008599 4 # 11 -129.107595 47.927762 -2233.963623 25662.900444 3 # 12 -129.083683 47.968925 -2164.637756 30574.030386 4 # 13 -129.081631 47.968415 -2120.796631 30737.345725 3 # 14 -129.105498 47.927192 -2262.094055 35653.475723 4 # 15 -129.103312 47.926683 -2238.296082 35826.293658 3 # 16 -129.079534 47.967845 -2097.451355 40733.703405 4 # 17 -129.077393 47.967216 -2091.055664 40908.135196 3 # 18 -129.101216 47.926113 -2220.952271 45810.657386 4 # 19 -129.099074 47.925573 -2173.936768 45981.555523 3 # 20 -129.095015 47.932619 -2118.919128 46821.325070 1 # 21 -129.095149 47.933518 -2126.322815 46921.744106 1 # 22 -129.094256 47.933938 -2113.234192 47003.155783 1 # 23 -129.075341 47.966706 -2084.411804 50909.409276 4 # 24 -129.073199 47.966166 -2097.209229 51080.190253 3 # 25 -129.097201 47.924764 -2141.767517 56018.543807 4 # 26 -129.096353 47.922995 -2141.109314 56225.112177 3 # 27 -129.106792 47.905726 -2284.834656 58296.896697 3 # 28 -129.108131 47.914001 -2235.071533 59222.041473 3 # 29 -129.110183 47.910553 -2243.416870 59634.802358 1 # 30 -129.116607 47.903628 -2264.813477 60541.916474 1 # 31 -129.119640 47.898801 -2252.367676 61124.331903 1 # 32 -129.120310 47.892056 -2313.421692 61875.668546 1 # 33 -129.118213 47.886000 -2337.679260 62566.769293 1 # 34 -129.120310 47.882432 -2339.080017 62993.195516 4 # 35 -129.122183 47.882972 -2331.598816 63145.549103 3 # 36 -129.119819 47.886899 -2326.348572 63616.435565 4 # 37 -129.121157 47.888338 -2345.021545 63805.074321 3 # 38 -129.124102 47.883481 -2329.754333 64388.070987 4 # 39 -129.132489 47.885580 -2364.868042 65057.091674 3 # 40 -129.107372 47.927552 -2239.788818 70085.491289 4 # 41 -129.113216 47.929201 -2182.183533 70558.943893 3 # 42 -129.137173 47.889447 -2302.468099 75326.238541 4 # 43 -129.143240 47.887529 -2203.057617 75827.433181 3 # 44 -129.143463 47.888728 -2196.628255 75961.756563 1 # 45 -129.140162 47.890497 -2199.076497 76277.276055 1 # 46 -129.116562 47.930640 -2111.162109 81074.856003 4 # # A total of 787 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 63000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2362.978690; abortDepth = 2382.978690; minAltitude = 40.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2533; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 136.168175 meters # Minimum depth: 2111.162109 meters looking forward 200.000000 meters along route # Maximum depth: 2112.687280 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.162109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930640; longitude = -129.116562; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2046.356211; finalDepth = 2046.162109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 65 # Commanded vehicle depth:2046.162109 # Seafloor depth:-2111.162109 # behavior reson { duration = 6; 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 46 # Segment length 136.168175 meters # Minimum depth: 2111.356211 meters looking forward 200.000000 meters along route # Maximum depth: 2113.691346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.356211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929805; longitude = -129.117053; captureRadius = 10; duration = 136; initialDepth = 2047.469218; finalDepth = 2046.356211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1755580000004 # Actual altitude: 66.1755580000004 # Commanded vehicle depth:2046.356211 # Seafloor depth:-2112.531769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.70; 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 = 264.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2112.469218 meters looking forward 200.000000 meters along route # Maximum depth: 2119.738019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.469218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928961; longitude = -129.117549; captureRadius = 10; duration = 136; initialDepth = 2050.351369; finalDepth = 2047.469218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.602774 # Actual altitude: 66.602774 # Commanded vehicle depth:2047.469218 # Seafloor depth:-2114.071992 # behavior reson { duration = 6; 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; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2115.351369 meters looking forward 200.000000 meters along route # Maximum depth: 2125.544039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.351369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928062; longitude = -129.118078; captureRadius = 10; duration = 136; initialDepth = 2055.293619; finalDepth = 2050.351369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4288790000001 # Actual altitude: 69.4288790000001 # Commanded vehicle depth:2050.351369 # Seafloor depth:-2119.780248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.72; 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 = 277.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2120.293619 meters looking forward 200.000000 meters along route # Maximum depth: 2126.288791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.293619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927162; longitude = -129.118607; captureRadius = 10; duration = 136; initialDepth = 2060.226139; finalDepth = 2055.293619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5481060000002 # Actual altitude: 70.5481060000002 # Commanded vehicle depth:2055.293619 # Seafloor depth:-2125.841725 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.19; 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 = 282.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2125.226139 meters looking forward 200.000000 meters along route # Maximum depth: 2129.051840 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2060.226139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926263; longitude = -129.119135; captureRadius = 10; duration = 136; initialDepth = 2062.453809; finalDepth = 2060.226139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5481060000002 # Actual altitude: 70.5481060000002 # Commanded vehicle depth:2060.226139 # Seafloor depth:-2126.640608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.19; 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 = 282.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2127.453809 meters looking forward 200.000000 meters along route # Maximum depth: 2129.051840 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.453809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925363; longitude = -129.119664; captureRadius = 10; duration = 136; initialDepth = 2062.688451; finalDepth = 2062.453809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4144690000003 # Actual altitude: 66.4144690000003 # Commanded vehicle depth:2062.453809 # Seafloor depth:-2128.425088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.66; 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 = 265.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2127.688451 meters looking forward 200.000000 meters along route # Maximum depth: 2129.983648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.688451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924464; longitude = -129.120193; captureRadius = 10; duration = 136; initialDepth = 2063.401220; finalDepth = 2062.688451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9712789999999 # Actual altitude: 65.9712789999999 # Commanded vehicle depth:2062.688451 # Seafloor depth:-2128.474113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.89; 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 = 263.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2128.401220 meters looking forward 200.000000 meters along route # Maximum depth: 2132.942952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.401220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923565; longitude = -129.120722; captureRadius = 10; duration = 136; initialDepth = 2064.974635; finalDepth = 2063.401220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4672039999996 # Actual altitude: 66.4672039999996 # Commanded vehicle depth:2063.40122 # Seafloor depth:-2129.868424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.87; 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 = 265.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2129.974635 meters looking forward 200.000000 meters along route # Maximum depth: 2135.381322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.974635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922665; longitude = -129.121250; captureRadius = 10; duration = 136; initialDepth = 2068.970056; finalDepth = 2064.974635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3317269999998 # Actual altitude: 68.3317269999998 # Commanded vehicle depth:2064.974635 # Seafloor depth:-2133.306362 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.33; 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 = 273.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2133.970056 meters looking forward 200.000000 meters along route # Maximum depth: 2136.069030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.970056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921766; longitude = -129.121779; captureRadius = 10; duration = 136; initialDepth = 2070.155081; finalDepth = 2068.970056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3317269999998 # Actual altitude: 68.3317269999998 # Commanded vehicle depth:2068.970056 # Seafloor depth:-2135.582471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.33; 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 = 273.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2135.155081 meters looking forward 200.000000 meters along route # Maximum depth: 2138.916641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.155081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920866; longitude = -129.122308; captureRadius = 10; duration = 136; initialDepth = 2070.404277; finalDepth = 2070.155081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6124150000001 # Actual altitude: 66.6124150000001 # Commanded vehicle depth:2070.155081 # Seafloor depth:-2135.155081 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.45; 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 = 266.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2135.404277 meters looking forward 200.000000 meters along route # Maximum depth: 2138.916641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.404277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919967; longitude = -129.122837; captureRadius = 10; duration = 136; initialDepth = 2072.105396; finalDepth = 2070.404277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.261379 # Actual altitude: 67.261379 # Commanded vehicle depth:2070.404277 # Seafloor depth:-2137.665656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.05; 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 = 269.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2137.105396 meters looking forward 200.000000 meters along route # Maximum depth: 2142.875215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.105396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919105; longitude = -129.123343; captureRadius = 10; duration = 136; initialDepth = 2073.462170; finalDepth = 2072.105396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.261379 # Actual altitude: 67.261379 # Commanded vehicle depth:2072.105396 # Seafloor depth:-2138.061254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.05; 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 = 269.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2138.462170 meters looking forward 200.000000 meters along route # Maximum depth: 2144.379655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.462170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918258; longitude = -129.123841; captureRadius = 10; duration = 136; initialDepth = 2077.726081; finalDepth = 2073.462170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6471380000003 # Actual altitude: 69.6471380000003 # Commanded vehicle depth:2073.46217 # Seafloor depth:-2143.109308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.59; 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 = 278.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2142.726081 meters looking forward 200.000000 meters along route # Maximum depth: 2151.542768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.726081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917359; longitude = -129.124370; captureRadius = 10; duration = 136; initialDepth = 2080.953963; finalDepth = 2077.726081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6471380000003 # Actual altitude: 69.6471380000003 # Commanded vehicle depth:2077.726081 # Seafloor depth:-2144.824536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.59; 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 = 278.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2145.953963 meters looking forward 200.000000 meters along route # Maximum depth: 2152.804060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.953963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916459; longitude = -129.124899; captureRadius = 10; duration = 136; initialDepth = 2084.068401; finalDepth = 2080.953963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2967320000002 # Actual altitude: 71.2967320000002 # Commanded vehicle depth:2080.953963 # Seafloor depth:-2152.250695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.19; 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 = 285.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2149.068401 meters looking forward 200.000000 meters along route # Maximum depth: 2152.804060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.068401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915560; longitude = -129.125427; captureRadius = 10; duration = 136; initialDepth = 2075.420289; finalDepth = 2084.068401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2967320000002 # Actual altitude: 71.2967320000002 # Commanded vehicle depth:2084.068401 # Seafloor depth:-2151.853944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.19; 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 = 285.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2140.420289 meters looking forward 200.000000 meters along route # Maximum depth: 2152.294638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.420289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914661; longitude = -129.125956; captureRadius = 10; duration = 136; initialDepth = 2072.248691; finalDepth = 2075.420289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5577789999998 # Actual altitude: 72.5577789999998 # Commanded vehicle depth:2075.420289 # Seafloor depth:-2147.978068 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.23; 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 = 290.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2137.248691 meters looking forward 200.000000 meters along route # Maximum depth: 2145.736038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.248691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913761; longitude = -129.126485; captureRadius = 10; duration = 136; initialDepth = 2072.248691; finalDepth = 2072.248691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5577789999998 # Actual altitude: 72.5577789999998 # Commanded vehicle depth:2072.248691 # Seafloor depth:-2139.692548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.23; 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 = 290.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2137.248691 meters looking forward 200.000000 meters along route # Maximum depth: 2145.077450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.248691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912862; longitude = -129.127014; captureRadius = 10; duration = 136; initialDepth = 2076.073268; finalDepth = 2072.248691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9015220000001 # Actual altitude: 67.9015220000001 # Commanded vehicle depth:2072.248691 # Seafloor depth:-2140.150213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.61; 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 = 271.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2141.073268 meters looking forward 200.000000 meters along route # Maximum depth: 2145.217112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.073268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911962; longitude = -129.127542; captureRadius = 10; duration = 136; initialDepth = 2068.822964; finalDepth = 2076.073268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1438439999997 # Actual altitude: 69.1438439999997 # Commanded vehicle depth:2076.073268 # Seafloor depth:-2145.217112 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.58; 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 = 276.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2133.822964 meters looking forward 200.000000 meters along route # Maximum depth: 2145.001958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.822964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911063; longitude = -129.128071; captureRadius = 10; duration = 136; initialDepth = 2059.812794; finalDepth = 2068.822964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9769649999998 # Actual altitude: 71.9769649999998 # Commanded vehicle depth:2068.822964 # Seafloor depth:-2140.799929 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.91; 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 = 287.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2124.812794 meters looking forward 200.000000 meters along route # Maximum depth: 2138.828519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2059.812794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910164; longitude = -129.128600; captureRadius = 10; duration = 136; initialDepth = 2059.662261; finalDepth = 2059.812794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3131859999999 # Actual altitude: 73.3131859999999 # Commanded vehicle depth:2059.812794 # Seafloor depth:-2133.125980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.25; 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 = 293.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2124.662261 meters looking forward 200.000000 meters along route # Maximum depth: 2134.957295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2059.662261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909264; longitude = -129.129129; captureRadius = 10; duration = 136; initialDepth = 2059.918942; finalDepth = 2059.662261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3131859999999 # Actual altitude: 73.3131859999999 # Commanded vehicle depth:2059.662261 # Seafloor depth:-2124.752435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.25; 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 = 293.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2124.918942 meters looking forward 200.000000 meters along route # Maximum depth: 2157.593140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2059.918942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908365; longitude = -129.129657; captureRadius = 10; duration = 136; initialDepth = 2074.720406; finalDepth = 2059.918942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4596740000002 # Actual altitude: 76.4596740000002 # Commanded vehicle depth:2059.918942 # Seafloor depth:-2136.378616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.84; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2139.720406 meters looking forward 200.000000 meters along route # Maximum depth: 2169.831598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.720406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907495; longitude = -129.130169; captureRadius = 10; duration = 136; initialDepth = 2095.671843; finalDepth = 2074.720406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9576529999999 # Actual altitude: 83.9576529999999 # Commanded vehicle depth:2074.720406 # Seafloor depth:-2158.678059 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.79; MB_Bottom_Detect_Filter_Max_Range = 335.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2160.671843 meters looking forward 200.000000 meters along route # Maximum depth: 2181.276707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.671843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906656; longitude = -129.130662; captureRadius = 10; duration = 136; initialDepth = 2105.600867; finalDepth = 2095.671843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9576529999999 # Actual altitude: 83.9576529999999 # Commanded vehicle depth:2095.671843 # Seafloor depth:-2170.168881 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.79; MB_Bottom_Detect_Filter_Max_Range = 335.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2170.600867 meters looking forward 200.000000 meters along route # Maximum depth: 2187.887470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.600867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905756; longitude = -129.131191; captureRadius = 10; duration = 136; initialDepth = 2118.166114; finalDepth = 2105.600867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.442145 # Actual altitude: 76.442145 # Commanded vehicle depth:2105.600867 # Seafloor depth:-2182.043012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2183.166114 meters looking forward 200.000000 meters along route # Maximum depth: 2187.887470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.166114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904857; longitude = -129.131720; captureRadius = 10; duration = 136; initialDepth = 2120.284730; finalDepth = 2118.166114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.442145 # Actual altitude: 76.442145 # Commanded vehicle depth:2118.166114 # Seafloor depth:-2187.601380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2185.284730 meters looking forward 200.000000 meters along route # Maximum depth: 2186.954729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.284730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903958; longitude = -129.132248; captureRadius = 10; duration = 136; initialDepth = 2120.284730; finalDepth = 2120.284730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.435266 # Actual altitude: 69.435266 # Commanded vehicle depth:2120.28473 # Seafloor depth:-2185.843532 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.74; 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 = 277.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2185.284730 meters looking forward 200.000000 meters along route # Maximum depth: 2190.522313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.284730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903058; longitude = -129.132777; captureRadius = 10; duration = 136; initialDepth = 2119.815075; finalDepth = 2120.284730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.558802 # Actual altitude: 65.558802 # Commanded vehicle depth:2120.28473 # Seafloor depth:-2185.821593 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.24; 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 = 262.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2184.815075 meters looking forward 200.000000 meters along route # Maximum depth: 2191.911790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.815075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902159; longitude = -129.133306; captureRadius = 10; duration = 136; initialDepth = 2113.099223; finalDepth = 2119.815075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3329269999999 # Actual altitude: 71.3329269999999 # Commanded vehicle depth:2119.815075 # Seafloor depth:-2191.148002 # behavior reson { duration = 6; 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 46 # Segment length 136.168175 meters # Minimum depth: 2178.099223 meters looking forward 200.000000 meters along route # Maximum depth: 2191.911790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.099223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901259; longitude = -129.133835; captureRadius = 10; duration = 136; initialDepth = 2109.020177; finalDepth = 2113.099223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3329269999999 # Actual altitude: 71.3329269999999 # Commanded vehicle depth:2113.099223 # Seafloor depth:-2184.186737 # behavior reson { duration = 6; 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 46 # Segment length 136.168175 meters # Minimum depth: 2174.020177 meters looking forward 200.000000 meters along route # Maximum depth: 2183.161798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.020177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900360; longitude = -129.134363; captureRadius = 10; duration = 136; initialDepth = 2103.589763; finalDepth = 2109.020177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0875139999998 # Actual altitude: 71.0875139999998 # Commanded vehicle depth:2109.020177 # Seafloor depth:-2177.934740 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.35; 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 = 284.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2168.589763 meters looking forward 200.000000 meters along route # Maximum depth: 2177.540700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.589763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899461; longitude = -129.134892; captureRadius = 10; duration = 136; initialDepth = 2097.887872; finalDepth = 2103.589763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1869850000003 # Actual altitude: 70.1869850000003 # Commanded vehicle depth:2103.589763 # Seafloor depth:-2173.776748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.75; 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 = 280.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2162.887872 meters looking forward 200.000000 meters along route # Maximum depth: 2173.113560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.887872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898561; longitude = -129.135421; captureRadius = 10; duration = 136; initialDepth = 2097.132136; finalDepth = 2097.887872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4721320000003 # Actual altitude: 70.4721320000003 # Commanded vehicle depth:2097.887872 # Seafloor depth:-2168.360004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.89; 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 = 281.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2162.132136 meters looking forward 200.000000 meters along route # Maximum depth: 2167.785339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.132136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897662; longitude = -129.135950; captureRadius = 10; duration = 136; initialDepth = 2094.332936; finalDepth = 2097.132136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4721320000003 # Actual altitude: 70.4721320000003 # Commanded vehicle depth:2097.132136 # Seafloor depth:-2162.724359 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.89; 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 = 281.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2159.332936 meters looking forward 200.000000 meters along route # Maximum depth: 2165.226570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.332936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896762; longitude = -129.136478; captureRadius = 10; duration = 136; initialDepth = 2094.332936; finalDepth = 2094.332936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2969560000001 # Actual altitude: 67.2969560000001 # Commanded vehicle depth:2094.332936 # Seafloor depth:-2161.629892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.19; 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 = 269.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2159.332936 meters looking forward 200.000000 meters along route # Maximum depth: 2164.814359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.332936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895863; longitude = -129.137007; captureRadius = 10; duration = 136; initialDepth = 2096.288670; finalDepth = 2094.332936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2969560000001 # Actual altitude: 67.2969560000001 # Commanded vehicle depth:2094.332936 # Seafloor depth:-2161.406809 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.19; 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 = 269.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2161.288670 meters looking forward 200.000000 meters along route # Maximum depth: 2165.235425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.288670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894964; longitude = -129.137536; captureRadius = 10; duration = 136; initialDepth = 2096.243406; finalDepth = 2096.288670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5568550000003 # Actual altitude: 68.5568550000003 # Commanded vehicle depth:2096.28867 # Seafloor depth:-2164.845525 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.23; 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 = 274.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2161.243406 meters looking forward 200.000000 meters along route # Maximum depth: 2165.370423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.243406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894063; longitude = -129.138065; captureRadius = 10; duration = 136; initialDepth = 2096.243406; finalDepth = 2096.243406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5568550000003 # Actual altitude: 68.5568550000003 # Commanded vehicle depth:2096.243406 # Seafloor depth:-2163.323139 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.23; 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 = 274.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2161.243406 meters looking forward 200.000000 meters along route # Maximum depth: 2172.344605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.243406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893153; longitude = -129.138600; captureRadius = 10; duration = 136; initialDepth = 2101.038743; finalDepth = 2096.243406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2172689999998 # Actual altitude: 69.2172689999998 # Commanded vehicle depth:2096.243406 # Seafloor depth:-2165.460675 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.87; 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 = 276.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2166.038743 meters looking forward 200.000000 meters along route # Maximum depth: 2190.644827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.038743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892242; longitude = -129.139136; captureRadius = 10; duration = 136; initialDepth = 2111.476520; finalDepth = 2101.038743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7246150000001 # Actual altitude: 71.7246150000001 # Commanded vehicle depth:2101.038743 # Seafloor depth:-2172.763358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.90; 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 = 286.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 136.168175 meters # Minimum depth: 2176.476520 meters looking forward 200.000000 meters along route # Maximum depth: 2198.753456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.476520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891366; longitude = -129.139651; captureRadius = 10; duration = 136; initialDepth = 2111.476520; finalDepth = 2111.476520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6267719999996 # Actual altitude: 80.6267719999996 # Commanded vehicle depth:2111.47652 # Seafloor depth:-2192.103292 # behavior reson { duration = 6; 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 to get to end of line 45 # Segment length 136.168175 meters # Minimum depth: 2176.476520 meters looking forward 200.000000 meters along route # Maximum depth: 2199.076497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.476520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890497; longitude = -129.140162; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2113.080840; finalDepth = 2111.476520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5999769999999 # Actual altitude: 87.5999769999999 # Commanded vehicle depth:2111.47652 # Seafloor depth:-2199.076497 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 136.168175 meters # Minimum depth: 2186.666413 meters looking forward 200.000000 meters along route # Maximum depth: 2199.076497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.080840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890467; longitude = -129.140218; captureRadius = 10; duration = 136; initialDepth = 2114.552042; finalDepth = 2113.080840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5999769999999 # Actual altitude: 87.5999769999999 # Commanded vehicle depth:2113.0808402 # Seafloor depth:-2198.251498 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 136.168175 meters # Minimum depth: 2179.552042 meters looking forward 200.000000 meters along route # Maximum depth: 2197.343150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.552042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889899; longitude = -129.141277; captureRadius = 10; duration = 136; initialDepth = 2114.552042; finalDepth = 2114.552042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1706578000012 # Actual altitude: 85.1706578000012 # Commanded vehicle depth:2114.552042 # Seafloor depth:-2185.732514 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.68; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 340.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 136.168175 meters # Minimum depth: 2179.552042 meters looking forward 200.000000 meters along route # Maximum depth: 2195.768090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.552042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889297; longitude = -129.142400; captureRadius = 10; duration = 136; initialDepth = 2114.552042; finalDepth = 2114.552042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.180472 # Actual altitude: 71.180472 # Commanded vehicle depth:2114.552042 # Seafloor depth:-2183.309454 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.72; 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 = 284.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 136.168175 meters # Minimum depth: 2179.552042 meters looking forward 200.000000 meters along route # Maximum depth: 2198.018585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.552042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888728; longitude = -129.143463; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2120.591629; finalDepth = 2114.552042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0762130000003 # Actual altitude: 82.0762130000003 # Commanded vehicle depth:2114.552042 # Seafloor depth:-2196.628255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 136.168175 meters # Minimum depth: 2185.591629 meters looking forward 200.000000 meters along route # Maximum depth: 2202.086975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.591629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888488; longitude = -129.143419; captureRadius = 10; duration = 136; initialDepth = 2133.018585; finalDepth = 2120.591629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0762130000003 # Actual altitude: 82.0762130000003 # Commanded vehicle depth:2120.591629 # Seafloor depth:-2198.565186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.30; 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 43 # Segment length 136.168175 meters # Minimum depth: 2198.018585 meters looking forward 200.000000 meters along route # Maximum depth: 2204.755859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.018585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887529; longitude = -129.143240; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2136.157318; finalDepth = 2133.018585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9735569999998 # Actual altitude: 77.9735569999998 # Commanded vehicle depth:2133.018585 # Seafloor depth:-2203.057617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.89; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 311.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 136.168175 meters # Minimum depth: 2201.157318 meters looking forward 200.000000 meters along route # Maximum depth: 2233.018196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2136.157318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887811; longitude = -129.142348; captureRadius = 10; duration = 136; initialDepth = 2144.076014; finalDepth = 2136.157318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6296189999998 # Actual altitude: 70.6296189999998 # Commanded vehicle depth:2136.157318 # Seafloor depth:-2206.786937 # behavior reson { duration = 6; 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 43 # Segment length 136.168175 meters # Minimum depth: 2209.076014 meters looking forward 200.000000 meters along route # Maximum depth: 2262.984833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2144.076014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888218; longitude = -129.141060; captureRadius = 10; duration = 136; initialDepth = 2175.170386; finalDepth = 2144.076014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.419042 # Actual altitude: 91.419042 # Commanded vehicle depth:2144.076014 # Seafloor depth:-2235.495056 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 136.168175 meters # Minimum depth: 2240.633286 meters looking forward 200.000000 meters along route # Maximum depth: 2288.960022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2175.170386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888615; longitude = -129.139805; captureRadius = 10; duration = 136; initialDepth = 2206.089269; finalDepth = 2175.170386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.419042 # Actual altitude: 91.419042 # Commanded vehicle depth:2175.1703858 # Seafloor depth:-2265.417509 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 136.168175 meters # Minimum depth: 2271.089269 meters looking forward 200.000000 meters along route # Maximum depth: 2301.180003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2206.089269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889038; longitude = -129.138467; captureRadius = 10; duration = 136; initialDepth = 2220.687428; finalDepth = 2206.089269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 90.2471232000003 # Actual altitude: 90.2471232000003 # Commanded vehicle depth:2206.089269 # Seafloor depth:-2289.347125 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.05; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 136.168175 meters # Minimum depth: 2285.687428 meters looking forward 200.000000 meters along route # Maximum depth: 2303.256863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2220.687428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889447; longitude = -129.137173; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2232.709573; finalDepth = 2220.687428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2578559999997 # Actual altitude: 83.2578559999997 # Commanded vehicle depth:2220.687428 # Seafloor depth:-2302.468099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.03; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 333.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2297.709573 meters looking forward 200.000000 meters along route # Maximum depth: 2303.509963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2232.709573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890017; longitude = -129.136830; captureRadius = 10; duration = 136; initialDepth = 2230.318631; finalDepth = 2232.709573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.780671 # Actual altitude: 81.780671 # Commanded vehicle depth:2232.709573 # Seafloor depth:-2303.430757 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 327.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2295.318631 meters looking forward 200.000000 meters along route # Maximum depth: 2303.509963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2230.318631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890854; longitude = -129.136325; captureRadius = 10; duration = 136; initialDepth = 2224.572294; finalDepth = 2230.318631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.721184 # Actual altitude: 70.721184 # Commanded vehicle depth:2230.318631 # Seafloor depth:-2298.749497 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.88; 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 = 282.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2289.572294 meters looking forward 200.000000 meters along route # Maximum depth: 2298.930622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2224.572294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891742; longitude = -129.135790; captureRadius = 10; duration = 136; initialDepth = 2219.223886; finalDepth = 2224.572294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6015589999997 # Actual altitude: 70.6015589999997 # Commanded vehicle depth:2224.572294 # Seafloor depth:-2295.173853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.41; 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 = 282.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2284.223886 meters looking forward 200.000000 meters along route # Maximum depth: 2293.438262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2219.223886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892630; longitude = -129.135255; captureRadius = 10; duration = 136; initialDepth = 2211.030581; finalDepth = 2219.223886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8836999999999 # Actual altitude: 70.8836999999999 # Commanded vehicle depth:2219.223886 # Seafloor depth:-2290.107586 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.53; 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 = 283.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2276.030581 meters looking forward 200.000000 meters along route # Maximum depth: 2289.411142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2211.030581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893525; longitude = -129.134716; captureRadius = 10; duration = 136; initialDepth = 2201.500586; finalDepth = 2211.030581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.151116 # Actual altitude: 73.151116 # Commanded vehicle depth:2211.030581 # Seafloor depth:-2284.181697 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.60; 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 = 292.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2266.500586 meters looking forward 200.000000 meters along route # Maximum depth: 2282.324044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2201.500586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894424; longitude = -129.134174; captureRadius = 10; duration = 136; initialDepth = 2187.931496; finalDepth = 2201.500586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3130459999998 # Actual altitude: 74.3130459999998 # Commanded vehicle depth:2201.500586 # Seafloor depth:-2275.813632 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.25; 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 = 297.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2252.931496 meters looking forward 200.000000 meters along route # Maximum depth: 2273.010673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2187.931496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895323; longitude = -129.133632; captureRadius = 10; duration = 136; initialDepth = 2186.423984; finalDepth = 2187.931496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2345879999998 # Actual altitude: 78.2345879999998 # Commanded vehicle depth:2187.931496 # Seafloor depth:-2266.166084 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 312.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2251.423984 meters looking forward 200.000000 meters along route # Maximum depth: 2264.395232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2186.423984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896223; longitude = -129.133090; captureRadius = 10; duration = 136; initialDepth = 2186.423984; finalDepth = 2186.423984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2345879999998 # Actual altitude: 78.2345879999998 # Commanded vehicle depth:2186.423984 # Seafloor depth:-2252.294875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 312.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2251.423984 meters looking forward 200.000000 meters along route # Maximum depth: 2260.595741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2186.423984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897122; longitude = -129.132548; captureRadius = 10; duration = 136; initialDepth = 2179.864562; finalDepth = 2186.423984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0587500000001 # Actual altitude: 73.0587500000001 # Commanded vehicle depth:2186.423984 # Seafloor depth:-2259.482734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.24; 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 = 292.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2244.864562 meters looking forward 200.000000 meters along route # Maximum depth: 2260.595741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2179.864562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897961; longitude = -129.132043; captureRadius = 10; duration = 136; initialDepth = 2179.864562; finalDepth = 2179.864562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9352359999998 # Actual altitude: 76.9352359999998 # Commanded vehicle depth:2179.864562 # Seafloor depth:-2256.799798 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2244.864562 meters looking forward 200.000000 meters along route # Maximum depth: 2253.952405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2179.864562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898849; longitude = -129.131507; captureRadius = 10; duration = 136; initialDepth = 2181.323462; finalDepth = 2179.864562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9352359999998 # Actual altitude: 76.9352359999998 # Commanded vehicle depth:2179.864562 # Seafloor depth:-2245.230385 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2246.323462 meters looking forward 200.000000 meters along route # Maximum depth: 2253.008987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.323462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899737; longitude = -129.130972; captureRadius = 10; duration = 136; initialDepth = 2181.387306; finalDepth = 2181.323462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1011710000002 # Actual altitude: 66.1011710000002 # Commanded vehicle depth:2181.323462 # Seafloor depth:-2247.424633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.40; 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 = 264.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2246.387306 meters looking forward 200.000000 meters along route # Maximum depth: 2253.760614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.387306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900630; longitude = -129.130434; captureRadius = 10; duration = 136; initialDepth = 2172.305576; finalDepth = 2181.387306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.656645 # Actual altitude: 71.656645 # Commanded vehicle depth:2181.387306 # Seafloor depth:-2253.043951 # behavior reson { duration = 6; 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 42 # Segment length 136.168175 meters # Minimum depth: 2237.305576 meters looking forward 200.000000 meters along route # Maximum depth: 2253.760614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.305576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901529; longitude = -129.129892; captureRadius = 10; duration = 136; initialDepth = 2172.305576; finalDepth = 2172.305576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1199809999998 # Actual altitude: 76.1199809999998 # Commanded vehicle depth:2172.305576 # Seafloor depth:-2248.425557 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2237.305576 meters looking forward 200.000000 meters along route # Maximum depth: 2244.880503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.305576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902429; longitude = -129.129350; captureRadius = 10; duration = 136; initialDepth = 2174.519413; finalDepth = 2172.305576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1199809999998 # Actual altitude: 76.1199809999998 # Commanded vehicle depth:2172.305576 # Seafloor depth:-2238.866955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2239.519413 meters looking forward 200.000000 meters along route # Maximum depth: 2245.033069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2174.519413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903328; longitude = -129.128808; captureRadius = 10; duration = 136; initialDepth = 2172.856078; finalDepth = 2174.519413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4087399999999 # Actual altitude: 70.4087399999999 # Commanded vehicle depth:2174.519413 # Seafloor depth:-2244.928153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.63; 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 = 281.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2237.856078 meters looking forward 200.000000 meters along route # Maximum depth: 2245.033069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.856078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904227; longitude = -129.128266; captureRadius = 10; duration = 136; initialDepth = 2156.776890; finalDepth = 2172.856078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4087399999999 # Actual altitude: 70.4087399999999 # Commanded vehicle depth:2172.856078 # Seafloor depth:-2242.370395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.63; 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 = 281.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2221.776890 meters looking forward 200.000000 meters along route # Maximum depth: 2242.412312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2156.776890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905067; longitude = -129.127760; captureRadius = 10; duration = 136; initialDepth = 2131.438354; finalDepth = 2156.776890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.909161 # Actual altitude: 80.909161 # Commanded vehicle depth:2156.77689 # Seafloor depth:-2237.686051 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.64; 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 = 323.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2196.438354 meters looking forward 200.000000 meters along route # Maximum depth: 2236.844117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.438354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905956; longitude = -129.127224; captureRadius = 10; duration = 136; initialDepth = 2127.580997; finalDepth = 2131.438354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7003410000002 # Actual altitude: 89.7003410000002 # Commanded vehicle depth:2131.438354 # Seafloor depth:-2221.138695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2192.580997 meters looking forward 200.000000 meters along route # Maximum depth: 2215.733244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2127.580997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906844; longitude = -129.126689; captureRadius = 10; duration = 136; initialDepth = 2122.798353; finalDepth = 2127.580997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7003410000002 # Actual altitude: 89.7003410000002 # Commanded vehicle depth:2127.580997 # Seafloor depth:-2196.295025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2187.798353 meters looking forward 200.000000 meters along route # Maximum depth: 2195.035309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.798353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907735; longitude = -129.126152; captureRadius = 10; duration = 136; initialDepth = 2122.752934; finalDepth = 2122.798353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.631629 # Actual altitude: 71.631629 # Commanded vehicle depth:2122.798353 # Seafloor depth:-2194.429982 # behavior reson { duration = 6; 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 42 # Segment length 136.168175 meters # Minimum depth: 2187.752934 meters looking forward 200.000000 meters along route # Maximum depth: 2194.811975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.752934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908635; longitude = -129.125610; captureRadius = 10; duration = 136; initialDepth = 2123.225406; finalDepth = 2122.752934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.631629 # Actual altitude: 71.631629 # Commanded vehicle depth:2122.752934 # Seafloor depth:-2187.752934 # behavior reson { duration = 6; 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 42 # Segment length 136.168175 meters # Minimum depth: 2188.225406 meters looking forward 200.000000 meters along route # Maximum depth: 2207.924057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.225406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909534; longitude = -129.125068; captureRadius = 10; duration = 136; initialDepth = 2132.374907; finalDepth = 2123.225406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9827770000002 # Actual altitude: 69.9827770000002 # Commanded vehicle depth:2123.225406 # Seafloor depth:-2193.208183 # behavior reson { duration = 6; 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 42 # Segment length 136.168175 meters # Minimum depth: 2197.374907 meters looking forward 200.000000 meters along route # Maximum depth: 2209.400072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2132.374907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910433; longitude = -129.124526; captureRadius = 10; duration = 136; initialDepth = 2126.767400; finalDepth = 2132.374907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.816194 # Actual altitude: 75.816194 # Commanded vehicle depth:2132.374907 # Seafloor depth:-2208.191101 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 303.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2191.767400 meters looking forward 200.000000 meters along route # Maximum depth: 2209.400072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.767400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911333; longitude = -129.123984; captureRadius = 10; duration = 136; initialDepth = 2121.825009; finalDepth = 2126.767400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.816194 # Actual altitude: 75.816194 # Commanded vehicle depth:2126.7674 # Seafloor depth:-2202.490518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 303.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2186.825009 meters looking forward 200.000000 meters along route # Maximum depth: 2200.776507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.825009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912174; longitude = -129.123477; captureRadius = 10; duration = 136; initialDepth = 2121.825009; finalDepth = 2121.825009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7231179999999 # Actual altitude: 75.7231179999999 # Commanded vehicle depth:2121.825009 # Seafloor depth:-2191.542694 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.89; 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 = 302.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2186.825009 meters looking forward 200.000000 meters along route # Maximum depth: 2191.061582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.825009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913062; longitude = -129.122942; captureRadius = 10; duration = 136; initialDepth = 2124.271871; finalDepth = 2121.825009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7176850000001 # Actual altitude: 69.7176850000001 # Commanded vehicle depth:2121.825009 # Seafloor depth:-2188.166733 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.87; 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 = 278.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2189.271871 meters looking forward 200.000000 meters along route # Maximum depth: 2191.561705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.271871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913951; longitude = -129.122406; captureRadius = 10; duration = 136; initialDepth = 2120.081136; finalDepth = 2124.271871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7982500000003 # Actual altitude: 66.7982500000003 # Commanded vehicle depth:2124.271871 # Seafloor depth:-2191.070121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.19; 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 = 267.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2185.081136 meters looking forward 200.000000 meters along route # Maximum depth: 2191.561705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.081136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914840; longitude = -129.121870; captureRadius = 10; duration = 136; initialDepth = 2114.609990; finalDepth = 2120.081136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1679900000004 # Actual altitude: 71.1679900000004 # Commanded vehicle depth:2120.081136 # Seafloor depth:-2191.249126 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.67; 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 = 284.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2179.609990 meters looking forward 200.000000 meters along route # Maximum depth: 2190.000228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.609990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915740; longitude = -129.121328; captureRadius = 10; duration = 136; initialDepth = 2112.257304; finalDepth = 2114.609990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1679900000004 # Actual altitude: 71.1679900000004 # Commanded vehicle depth:2114.60999 # Seafloor depth:-2185.399674 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.67; 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 = 284.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2177.257304 meters looking forward 200.000000 meters along route # Maximum depth: 2185.369301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.257304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916639; longitude = -129.120786; captureRadius = 10; duration = 136; initialDepth = 2110.443759; finalDepth = 2112.257304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7896839999999 # Actual altitude: 70.7896839999999 # Commanded vehicle depth:2112.257304 # Seafloor depth:-2179.566838 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.16; 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 = 283.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2175.443759 meters looking forward 200.000000 meters along route # Maximum depth: 2179.189218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.443759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917539; longitude = -129.120244; captureRadius = 10; duration = 136; initialDepth = 2104.663323; finalDepth = 2110.443759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.309534 # Actual altitude: 67.309534 # Commanded vehicle depth:2110.443759 # Seafloor depth:-2177.010738 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.24; 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 = 269.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2169.663323 meters looking forward 200.000000 meters along route # Maximum depth: 2176.056424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.663323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918438; longitude = -129.119702; captureRadius = 10; duration = 136; initialDepth = 2094.988489; finalDepth = 2104.663323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.186107 # Actual altitude: 71.186107 # Commanded vehicle depth:2104.663323 # Seafloor depth:-2175.849430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.74; 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 = 284.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2159.988489 meters looking forward 200.000000 meters along route # Maximum depth: 2175.374449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.988489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919337; longitude = -129.119160; captureRadius = 10; duration = 136; initialDepth = 2089.305677; finalDepth = 2094.988489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8879270000002 # Actual altitude: 73.8879270000002 # Commanded vehicle depth:2094.988489 # Seafloor depth:-2168.876416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.55; 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 = 295.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2154.305677 meters looking forward 200.000000 meters along route # Maximum depth: 2167.241239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.305677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920237; longitude = -129.118618; captureRadius = 10; duration = 136; initialDepth = 2088.579540; finalDepth = 2089.305677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8879270000002 # Actual altitude: 73.8879270000002 # Commanded vehicle depth:2089.305677 # Seafloor depth:-2159.050750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.55; 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 = 295.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2153.579540 meters looking forward 200.000000 meters along route # Maximum depth: 2157.272815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.579540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921136; longitude = -129.118076; captureRadius = 10; duration = 136; initialDepth = 2088.579540; finalDepth = 2088.579540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.745073 # Actual altitude: 69.745073 # Commanded vehicle depth:2088.57954 # Seafloor depth:-2154.167862 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.98; 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 = 278.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2153.579540 meters looking forward 200.000000 meters along route # Maximum depth: 2155.037506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.579540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922036; longitude = -129.117534; captureRadius = 10; duration = 136; initialDepth = 2088.655779; finalDepth = 2088.579540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5883219999996 # Actual altitude: 65.5883219999996 # Commanded vehicle depth:2088.57954 # Seafloor depth:-2154.108278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.35; 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 = 262.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2153.655779 meters looking forward 200.000000 meters along route # Maximum depth: 2157.134963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.655779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922935; longitude = -129.116992; captureRadius = 10; duration = 136; initialDepth = 2090.954271; finalDepth = 2088.655779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2202419999999 # Actual altitude: 67.2202419999999 # Commanded vehicle depth:2088.655779 # Seafloor depth:-2155.876021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.88; 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 = 268.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2155.954271 meters looking forward 200.000000 meters along route # Maximum depth: 2162.401448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.954271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923834; longitude = -129.116450; captureRadius = 10; duration = 136; initialDepth = 2092.044636; finalDepth = 2090.954271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2202419999999 # Actual altitude: 67.2202419999999 # Commanded vehicle depth:2090.954271 # Seafloor depth:-2155.954271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.88; 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 = 268.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2157.044636 meters looking forward 200.000000 meters along route # Maximum depth: 2165.122715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.044636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924734; longitude = -129.115908; captureRadius = 10; duration = 136; initialDepth = 2098.429734; finalDepth = 2092.044636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7090539999999 # Actual altitude: 70.7090539999999 # Commanded vehicle depth:2092.044636 # Seafloor depth:-2162.753690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.84; 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 = 282.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2163.429734 meters looking forward 200.000000 meters along route # Maximum depth: 2167.024707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.429734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925633; longitude = -129.115366; captureRadius = 10; duration = 136; initialDepth = 2097.953411; finalDepth = 2098.429734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7090539999999 # Actual altitude: 70.7090539999999 # Commanded vehicle depth:2098.429734 # Seafloor depth:-2165.902786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.84; 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 = 282.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2162.953411 meters looking forward 200.000000 meters along route # Maximum depth: 2167.024707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.953411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926533; longitude = -129.114824; captureRadius = 10; duration = 136; initialDepth = 2097.953411; finalDepth = 2097.953411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4730520000003 # Actual altitude: 67.4730520000003 # Commanded vehicle depth:2097.953411 # Seafloor depth:-2164.175656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.89; 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 = 269.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2162.953411 meters looking forward 200.000000 meters along route # Maximum depth: 2174.755895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.953411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927432; longitude = -129.114282; captureRadius = 10; duration = 136; initialDepth = 2104.253754; finalDepth = 2097.953411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9371190000002 # Actual altitude: 68.9371190000002 # Commanded vehicle depth:2097.953411 # Seafloor depth:-2166.890530 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.75; 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 = 275.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 136.168175 meters # Minimum depth: 2169.253754 meters looking forward 200.000000 meters along route # Maximum depth: 2183.335239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.253754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928331; longitude = -129.113740; captureRadius = 10; duration = 136; initialDepth = 2106.404601; finalDepth = 2104.253754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3954020000001 # Actual altitude: 72.3954020000001 # Commanded vehicle depth:2104.253754 # Seafloor depth:-2176.649156 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.48; MB_Bottom_Detect_Filter_Max_Range = 289.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.58; 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 41 # Segment length 136.168175 meters # Minimum depth: 2171.404601 meters looking forward 200.000000 meters along route # Maximum depth: 2189.876871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.404601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929201; longitude = -129.113216; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2104.150037; finalDepth = 2106.404601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7789319999997 # Actual altitude: 75.7789319999997 # Commanded vehicle depth:2106.404601 # Seafloor depth:-2182.183533 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 303.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 136.168175 meters # Minimum depth: 2169.150037 meters looking forward 200.000000 meters along route # Maximum depth: 2189.959444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.150037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929037; longitude = -129.112636; captureRadius = 10; duration = 136; initialDepth = 2101.646265; finalDepth = 2104.150037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8094070000002 # Actual altitude: 85.8094070000002 # Commanded vehicle depth:2104.150037 # Seafloor depth:-2189.959444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 343.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 136.168175 meters # Minimum depth: 2166.646265 meters looking forward 200.000000 meters along route # Maximum depth: 2188.335844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.646265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928660; longitude = -129.111298; captureRadius = 10; duration = 136; initialDepth = 2101.646265; finalDepth = 2101.646265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8094070000002 # Actual altitude: 85.8094070000002 # Commanded vehicle depth:2101.646265 # Seafloor depth:-2167.772909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 343.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 136.168175 meters # Minimum depth: 2166.646265 meters looking forward 200.000000 meters along route # Maximum depth: 2207.418758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.646265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928282; longitude = -129.109960; captureRadius = 10; duration = 136; initialDepth = 2122.290173; finalDepth = 2101.646265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.485694 # Actual altitude: 82.485694 # Commanded vehicle depth:2101.646265 # Seafloor depth:-2184.131959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 329.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 136.168175 meters # Minimum depth: 2187.290173 meters looking forward 200.000000 meters along route # Maximum depth: 2238.639375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.290173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927905; longitude = -129.108621; captureRadius = 10; duration = 136; initialDepth = 2144.416759; finalDepth = 2122.290173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 87.1265860000003 # Actual altitude: 87.1265860000003 # Commanded vehicle depth:2122.290173 # Seafloor depth:-2209.416759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.51; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 348.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 136.168175 meters # Minimum depth: 2209.416759 meters looking forward 200.000000 meters along route # Maximum depth: 2239.788818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2144.416759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927552; longitude = -129.107372; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2167.400264; finalDepth = 2144.416759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.3720589999998 # Actual altitude: 95.3720589999998 # Commanded vehicle depth:2144.416759 # Seafloor depth:-2239.788818 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2232.400264 meters looking forward 200.000000 meters along route # Maximum depth: 2239.788818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.400264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926803; longitude = -129.107821; captureRadius = 10; duration = 136; initialDepth = 2167.426248; finalDepth = 2167.400264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.3720589999998 # Actual altitude: 95.3720589999998 # Commanded vehicle depth:2167.400264 # Seafloor depth:-2232.611325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2232.426248 meters looking forward 200.000000 meters along route # Maximum depth: 2243.182862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.426248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925903; longitude = -129.108359; captureRadius = 10; duration = 136; initialDepth = 2169.364407; finalDepth = 2167.426248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2260189999997 # Actual altitude: 66.2260189999997 # Commanded vehicle depth:2167.426248 # Seafloor depth:-2233.652267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.90; 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 = 264.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2234.364407 meters looking forward 200.000000 meters along route # Maximum depth: 2253.551079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2169.364407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925004; longitude = -129.108897; captureRadius = 10; duration = 136; initialDepth = 2181.713769; finalDepth = 2169.364407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0458509999999 # Actual altitude: 74.0458509999999 # Commanded vehicle depth:2169.364407 # Seafloor depth:-2243.410258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.81; MB_Bottom_Detect_Filter_Max_Range = 296.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2246.713769 meters looking forward 200.000000 meters along route # Maximum depth: 2257.694962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.713769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924104; longitude = -129.109435; captureRadius = 10; duration = 136; initialDepth = 2188.683036; finalDepth = 2181.713769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0458509999999 # Actual altitude: 74.0458509999999 # Commanded vehicle depth:2181.713769 # Seafloor depth:-2253.531960 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.81; MB_Bottom_Detect_Filter_Max_Range = 296.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2253.683036 meters looking forward 200.000000 meters along route # Maximum depth: 2262.248050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2188.683036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923205; longitude = -129.109973; captureRadius = 10; duration = 136; initialDepth = 2192.375908; finalDepth = 2188.683036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8181909999998 # Actual altitude: 71.8181909999998 # Commanded vehicle depth:2188.683036 # Seafloor depth:-2257.450024 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.27; 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 = 287.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2257.375908 meters looking forward 200.000000 meters along route # Maximum depth: 2262.790325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2192.375908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922305; longitude = -129.110512; captureRadius = 10; duration = 136; initialDepth = 2196.454566; finalDepth = 2192.375908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8054689999999 # Actual altitude: 69.8054689999999 # Commanded vehicle depth:2192.375908 # Seafloor depth:-2262.181377 # behavior reson { duration = 6; 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 40 # Segment length 136.168175 meters # Minimum depth: 2261.454566 meters looking forward 200.000000 meters along route # Maximum depth: 2265.068937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2196.454566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921406; longitude = -129.111050; captureRadius = 10; duration = 136; initialDepth = 2190.481660; finalDepth = 2196.454566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8054689999999 # Actual altitude: 69.8054689999999 # Commanded vehicle depth:2196.454566 # Seafloor depth:-2263.006374 # behavior reson { duration = 6; 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 40 # Segment length 136.168175 meters # Minimum depth: 2255.481660 meters looking forward 200.000000 meters along route # Maximum depth: 2265.068937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2190.481660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920507; longitude = -129.111588; captureRadius = 10; duration = 136; initialDepth = 2181.468458; finalDepth = 2190.481660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3996390000002 # Actual altitude: 71.3996390000002 # Commanded vehicle depth:2190.48166 # Seafloor depth:-2261.881299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.60; 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 = 285.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2246.468458 meters looking forward 200.000000 meters along route # Maximum depth: 2259.774187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.468458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919607; longitude = -129.112126; captureRadius = 10; duration = 136; initialDepth = 2175.386389; finalDepth = 2181.468458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7322250000002 # Actual altitude: 73.7322250000002 # Commanded vehicle depth:2181.468458 # Seafloor depth:-2255.200683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.75; MB_Bottom_Detect_Filter_Max_Range = 294.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2240.386389 meters looking forward 200.000000 meters along route # Maximum depth: 2253.865656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2175.386389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918708; longitude = -129.112665; captureRadius = 10; duration = 136; initialDepth = 2174.717587; finalDepth = 2175.386389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7322250000002 # Actual altitude: 73.7322250000002 # Commanded vehicle depth:2175.386389 # Seafloor depth:-2246.140223 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.75; MB_Bottom_Detect_Filter_Max_Range = 294.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2239.717587 meters looking forward 200.000000 meters along route # Maximum depth: 2244.875554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2174.717587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917808; longitude = -129.113203; captureRadius = 10; duration = 136; initialDepth = 2174.641062; finalDepth = 2174.717587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7538340000001 # Actual altitude: 70.7538340000001 # Commanded vehicle depth:2174.717587 # Seafloor depth:-2240.384145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.02; 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 = 283.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2239.641062 meters looking forward 200.000000 meters along route # Maximum depth: 2240.792058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2174.641062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916909; longitude = -129.113741; captureRadius = 10; duration = 136; initialDepth = 2174.705711; finalDepth = 2174.641062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6665579999999 # Actual altitude: 65.6665579999999 # Commanded vehicle depth:2174.641062 # Seafloor depth:-2239.641062 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.67; 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 = 262.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2239.705711 meters looking forward 200.000000 meters along route # Maximum depth: 2241.324690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2174.705711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916071; longitude = -129.114242; captureRadius = 10; duration = 136; initialDepth = 2175.397320; finalDepth = 2174.705711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1488629999999 # Actual altitude: 66.1488629999999 # Commanded vehicle depth:2174.705711 # Seafloor depth:-2240.854574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.60; 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 = 264.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2240.397320 meters looking forward 200.000000 meters along route # Maximum depth: 2241.558669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2175.397320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915177; longitude = -129.114778; captureRadius = 10; duration = 136; initialDepth = 2175.269519; finalDepth = 2175.397320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1488629999999 # Actual altitude: 66.1488629999999 # Commanded vehicle depth:2175.39732 # Seafloor depth:-2240.764608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.60; 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 = 264.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2240.269519 meters looking forward 200.000000 meters along route # Maximum depth: 2241.558669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2175.269519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914282; longitude = -129.115313; captureRadius = 10; duration = 136; initialDepth = 2173.593419; finalDepth = 2175.269519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3672879999999 # Actual altitude: 65.3672879999999 # Commanded vehicle depth:2175.269519 # Seafloor depth:-2240.378849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.07; MB_Bottom_Detect_Filter_Max_Range = 261.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2238.593419 meters looking forward 200.000000 meters along route # Maximum depth: 2241.612058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2173.593419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913387; longitude = -129.115848; captureRadius = 10; duration = 136; initialDepth = 2173.593419; finalDepth = 2173.593419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9214550000002 # Actual altitude: 67.9214550000002 # Commanded vehicle depth:2173.593419 # Seafloor depth:-2241.514874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.69; 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 = 271.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2238.593419 meters looking forward 200.000000 meters along route # Maximum depth: 2244.263497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2173.593419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912493; longitude = -129.116384; captureRadius = 10; duration = 136; initialDepth = 2174.174408; finalDepth = 2173.593419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9214550000002 # Actual altitude: 67.9214550000002 # Commanded vehicle depth:2173.593419 # Seafloor depth:-2238.748343 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.69; 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 = 271.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2239.174408 meters looking forward 200.000000 meters along route # Maximum depth: 2248.252494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2174.174408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911598; longitude = -129.116919; captureRadius = 10; duration = 136; initialDepth = 2179.490298; finalDepth = 2174.174408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1003610000002 # Actual altitude: 70.1003610000002 # Commanded vehicle depth:2174.174408 # Seafloor depth:-2244.274769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.40; 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 = 280.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2244.490298 meters looking forward 200.000000 meters along route # Maximum depth: 2251.842279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2179.490298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910703; longitude = -129.117455; captureRadius = 10; duration = 136; initialDepth = 2184.489517; finalDepth = 2179.490298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1003610000002 # Actual altitude: 70.1003610000002 # Commanded vehicle depth:2179.490298 # Seafloor depth:-2248.255781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.40; 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 = 280.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2249.489517 meters looking forward 200.000000 meters along route # Maximum depth: 2252.957798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2184.489517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909804; longitude = -129.117993; captureRadius = 10; duration = 136; initialDepth = 2187.404935; finalDepth = 2184.489517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7654829999997 # Actual altitude: 68.7654829999997 # Commanded vehicle depth:2184.489517 # Seafloor depth:-2251.867797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.06; 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 = 275.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2252.404935 meters looking forward 200.000000 meters along route # Maximum depth: 2254.362252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2187.404935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908904; longitude = -129.118531; captureRadius = 10; duration = 136; initialDepth = 2184.315462; finalDepth = 2187.404935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3782799999999 # Actual altitude: 67.3782799999999 # Commanded vehicle depth:2187.404935 # Seafloor depth:-2252.983829 # behavior reson { duration = 6; 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 40 # Segment length 136.168175 meters # Minimum depth: 2249.315462 meters looking forward 200.000000 meters along route # Maximum depth: 2254.362252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2184.315462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908005; longitude = -129.119069; captureRadius = 10; duration = 136; initialDepth = 2182.434109; finalDepth = 2184.315462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.946852 # Actual altitude: 68.946852 # Commanded vehicle depth:2184.315462 # Seafloor depth:-2253.262314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.79; 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 = 275.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2247.434109 meters looking forward 200.000000 meters along route # Maximum depth: 2252.680047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2182.434109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907106; longitude = -129.119608; captureRadius = 10; duration = 136; initialDepth = 2180.385866; finalDepth = 2182.434109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.946852 # Actual altitude: 68.946852 # Commanded vehicle depth:2182.434109 # Seafloor depth:-2249.146912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.79; 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 = 275.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2245.385866 meters looking forward 200.000000 meters along route # Maximum depth: 2248.721203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2180.385866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906206; longitude = -129.120146; captureRadius = 10; duration = 136; initialDepth = 2180.376066; finalDepth = 2180.385866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4970309999999 # Actual altitude: 67.4970309999999 # Commanded vehicle depth:2180.385866 # Seafloor depth:-2247.882897 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.99; 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 = 269.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2245.376066 meters looking forward 200.000000 meters along route # Maximum depth: 2249.354786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2180.376066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905307; longitude = -129.120684; captureRadius = 10; duration = 136; initialDepth = 2180.567139; finalDepth = 2180.376066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4970309999999 # Actual altitude: 67.4970309999999 # Commanded vehicle depth:2180.376066 # Seafloor depth:-2245.376066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.99; 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 = 269.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2245.567139 meters looking forward 200.000000 meters along route # Maximum depth: 2256.544165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2180.567139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904407; longitude = -129.121222; captureRadius = 10; duration = 136; initialDepth = 2187.062775; finalDepth = 2180.567139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.315967 # Actual altitude: 69.315967 # Commanded vehicle depth:2180.567139 # Seafloor depth:-2249.883106 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.26; 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 = 277.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2252.062775 meters looking forward 200.000000 meters along route # Maximum depth: 2256.983267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2187.062775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903508; longitude = -129.121761; captureRadius = 10; duration = 136; initialDepth = 2191.205739; finalDepth = 2187.062775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.591962 # Actual altitude: 69.591962 # Commanded vehicle depth:2187.062775 # Seafloor depth:-2256.654737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.92; MB_Bottom_Detect_Filter_Max_Range = 278.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2256.205739 meters looking forward 200.000000 meters along route # Maximum depth: 2264.394889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2191.205739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902609; longitude = -129.122299; captureRadius = 10; duration = 136; initialDepth = 2193.403547; finalDepth = 2191.205739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.591962 # Actual altitude: 69.591962 # Commanded vehicle depth:2191.205739 # Seafloor depth:-2257.275364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.92; MB_Bottom_Detect_Filter_Max_Range = 278.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2258.403547 meters looking forward 200.000000 meters along route # Maximum depth: 2271.204753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2193.403547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901709; longitude = -129.122837; captureRadius = 10; duration = 136; initialDepth = 2202.192005; finalDepth = 2193.403547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.500614 # Actual altitude: 71.500614 # Commanded vehicle depth:2193.403547 # Seafloor depth:-2264.904161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.00; 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 = 286.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2267.192005 meters looking forward 200.000000 meters along route # Maximum depth: 2271.204753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2202.192005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900810; longitude = -129.123375; captureRadius = 10; duration = 136; initialDepth = 2198.689545; finalDepth = 2202.192005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.500614 # Actual altitude: 71.500614 # Commanded vehicle depth:2202.192005 # Seafloor depth:-2270.339154 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.00; 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 = 286.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2263.689545 meters looking forward 200.000000 meters along route # Maximum depth: 2269.462592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2198.689545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899910; longitude = -129.123913; captureRadius = 10; duration = 136; initialDepth = 2197.508089; finalDepth = 2198.689545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3361359999999 # Actual altitude: 70.3361359999999 # Commanded vehicle depth:2198.689545 # Seafloor depth:-2269.025681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.34; 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 = 281.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2262.508089 meters looking forward 200.000000 meters along route # Maximum depth: 2267.838068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2197.508089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899011; longitude = -129.124452; captureRadius = 10; duration = 136; initialDepth = 2197.508089; finalDepth = 2197.508089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3361359999999 # Actual altitude: 70.3361359999999 # Commanded vehicle depth:2197.508089 # Seafloor depth:-2263.457041 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.34; 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 = 281.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2262.508089 meters looking forward 200.000000 meters along route # Maximum depth: 2279.299855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2197.508089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898112; longitude = -129.124990; captureRadius = 10; duration = 136; initialDepth = 2206.056665; finalDepth = 2197.508089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3263900000002 # Actual altitude: 71.3263900000002 # Commanded vehicle depth:2197.508089 # Seafloor depth:-2268.834479 # behavior reson { duration = 6; 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 40 # Segment length 136.168175 meters # Minimum depth: 2271.056665 meters looking forward 200.000000 meters along route # Maximum depth: 2290.110968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2206.056665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897212; longitude = -129.125528; captureRadius = 10; duration = 136; initialDepth = 2216.239704; finalDepth = 2206.056665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.037143 # Actual altitude: 74.037143 # Commanded vehicle depth:2206.056665 # Seafloor depth:-2280.093808 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.81; MB_Bottom_Detect_Filter_Max_Range = 296.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2281.239704 meters looking forward 200.000000 meters along route # Maximum depth: 2299.413380 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2216.239704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896313; longitude = -129.126066; captureRadius = 10; duration = 136; initialDepth = 2228.238467; finalDepth = 2216.239704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.9963309999998 # Actual altitude: 74.9963309999998 # Commanded vehicle depth:2216.239704 # Seafloor depth:-2291.236035 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 299.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2293.238467 meters looking forward 200.000000 meters along route # Maximum depth: 2307.141705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2228.238467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895413; longitude = -129.126605; captureRadius = 10; duration = 136; initialDepth = 2237.524696; finalDepth = 2228.238467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.9963309999998 # Actual altitude: 74.9963309999998 # Commanded vehicle depth:2228.238467 # Seafloor depth:-2300.488676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 299.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2302.524696 meters looking forward 200.000000 meters along route # Maximum depth: 2308.867320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2237.524696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894514; longitude = -129.127143; captureRadius = 10; duration = 136; initialDepth = 2232.652676; finalDepth = 2237.524696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2502089999998 # Actual altitude: 72.2502089999998 # Commanded vehicle depth:2237.524696 # Seafloor depth:-2307.450071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.00; 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 = 289.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2297.652676 meters looking forward 200.000000 meters along route # Maximum depth: 2308.867320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2232.652676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893614; longitude = -129.127681; captureRadius = 10; duration = 136; initialDepth = 2232.652676; finalDepth = 2232.652676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4427839999998 # Actual altitude: 71.4427839999998 # Commanded vehicle depth:2232.652676 # Seafloor depth:-2304.095460 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.77; 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 = 285.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2297.652676 meters looking forward 200.000000 meters along route # Maximum depth: 2303.638738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2232.652676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892715; longitude = -129.128219; captureRadius = 10; duration = 136; initialDepth = 2234.920778; finalDepth = 2232.652676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4427839999998 # Actual altitude: 71.4427839999998 # Commanded vehicle depth:2232.652676 # Seafloor depth:-2298.413332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.77; 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 = 285.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2299.920778 meters looking forward 200.000000 meters along route # Maximum depth: 2307.838687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2234.920778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891816; longitude = -129.128757; captureRadius = 10; duration = 136; initialDepth = 2239.128728; finalDepth = 2234.920778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8413579999997 # Actual altitude: 68.8413579999997 # Commanded vehicle depth:2234.920778 # Seafloor depth:-2303.762136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.37; 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 = 275.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2304.128728 meters looking forward 200.000000 meters along route # Maximum depth: 2314.937072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2239.128728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890916; longitude = -129.129296; captureRadius = 10; duration = 136; initialDepth = 2242.023046; finalDepth = 2239.128728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8413579999997 # Actual altitude: 68.8413579999997 # Commanded vehicle depth:2239.128728 # Seafloor depth:-2307.187667 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.37; 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 = 275.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2307.023046 meters looking forward 200.000000 meters along route # Maximum depth: 2326.900637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2242.023046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890017; longitude = -129.129834; captureRadius = 10; duration = 136; initialDepth = 2252.515817; finalDepth = 2242.023046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8464820000004 # Actual altitude: 73.8464820000004 # Commanded vehicle depth:2242.023046 # Seafloor depth:-2315.869528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.39; 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 = 295.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2317.515817 meters looking forward 200.000000 meters along route # Maximum depth: 2335.880237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2252.515817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889117; longitude = -129.130372; captureRadius = 10; duration = 136; initialDepth = 2261.487181; finalDepth = 2252.515817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3803429999998 # Actual altitude: 74.3803429999998 # Commanded vehicle depth:2252.515817 # Seafloor depth:-2326.896160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2326.487181 meters looking forward 200.000000 meters along route # Maximum depth: 2347.530073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2261.487181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888218; longitude = -129.130910; captureRadius = 10; duration = 136; initialDepth = 2278.586977; finalDepth = 2261.487181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2481130000001 # Actual altitude: 77.2481130000001 # Commanded vehicle depth:2261.487181 # Seafloor depth:-2338.735294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 308.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2343.586977 meters looking forward 200.000000 meters along route # Maximum depth: 2362.044987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2278.586977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887319; longitude = -129.131449; captureRadius = 10; duration = 136; initialDepth = 2284.294328; finalDepth = 2278.586977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2481130000001 # Actual altitude: 77.2481130000001 # Commanded vehicle depth:2278.586977 # Seafloor depth:-2348.121683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 308.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 136.168175 meters # Minimum depth: 2349.294328 meters looking forward 200.000000 meters along route # Maximum depth: 2364.117502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2284.294328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886419; longitude = -129.131987; captureRadius = 10; duration = 136; initialDepth = 2288.043967; finalDepth = 2284.294328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4561400000002 # Actual altitude: 78.4561400000002 # Commanded vehicle depth:2284.294328 # Seafloor depth:-2362.750468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.82; 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 39 # Segment length 136.168175 meters # Minimum depth: 2353.043967 meters looking forward 200.000000 meters along route # Maximum depth: 2364.868042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2288.043967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885580; longitude = -129.132489; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2278.943764; finalDepth = 2288.043967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4561400000002 # Actual altitude: 78.4561400000002 # Commanded vehicle depth:2288.043967 # Seafloor depth:-2364.868042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 136.168175 meters # Minimum depth: 2343.943764 meters looking forward 200.000000 meters along route # Maximum depth: 2364.868042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2278.943764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885468; longitude = -129.132043; captureRadius = 10; duration = 136; initialDepth = 2278.943764; finalDepth = 2278.943764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.824075 # Actual altitude: 76.824075 # Commanded vehicle depth:2278.943764 # Seafloor depth:-2349.349565 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 307.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 136.168175 meters # Minimum depth: 2343.943764 meters looking forward 200.000000 meters along route # Maximum depth: 2378.306940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2278.943764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885133; longitude = -129.130704; captureRadius = 10; duration = 136; initialDepth = 2288.375788; finalDepth = 2278.943764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.607708 # Actual altitude: 70.607708 # Commanded vehicle depth:2278.943764 # Seafloor depth:-2349.551472 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.43; 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 = 282.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 136.168175 meters # Minimum depth: 2353.375788 meters looking forward 200.000000 meters along route # Maximum depth: 2392.028374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2288.375788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884798; longitude = -129.129366; captureRadius = 10; duration = 136; initialDepth = 2317.978690; finalDepth = 2288.375788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.0935400000003 # Actual altitude: 90.0935400000003 # Commanded vehicle depth:2288.375788 # Seafloor depth:-2378.469328 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 136.168175 meters # Minimum depth: 2382.978690 meters looking forward 200.000000 meters along route # Maximum depth: 2392.124216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2317.978690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884463; longitude = -129.128027; captureRadius = 10; duration = 136; initialDepth = 2291.592003; finalDepth = 2317.978690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.0935400000003 # Actual altitude: 90.0935400000003 # Commanded vehicle depth:2317.97869 # Seafloor depth:-2392.124216 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 136.168175 meters # Minimum depth: 2356.592003 meters looking forward 200.000000 meters along route # Maximum depth: 2392.008700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2291.592003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884128; longitude = -129.126689; captureRadius = 10; duration = 136; initialDepth = 2265.643424; finalDepth = 2291.592003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.151895 # Actual altitude: 89.151895 # Commanded vehicle depth:2291.592003 # Seafloor depth:-2380.743898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.83; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 136.168175 meters # Minimum depth: 2330.643424 meters looking forward 200.000000 meters along route # Maximum depth: 2378.484058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2265.643424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883811; longitude = -129.125420; captureRadius = 10; duration = 136; initialDepth = 2264.754333; finalDepth = 2265.643424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 89.6171720000002 # Actual altitude: 89.6171720000002 # Commanded vehicle depth:2265.643424 # Seafloor depth:-2355.260596 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 136.168175 meters # Minimum depth: 2329.754333 meters looking forward 200.000000 meters along route # Maximum depth: 2365.125798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2264.754333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883481; longitude = -129.124102; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2264.754333; finalDepth = 2264.754333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6171720000002 # Actual altitude: 89.6171720000002 # Commanded vehicle depth:2264.754333 # Seafloor depth:-2329.754333 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 136.168175 meters # Minimum depth: 2329.754333 meters looking forward 200.000000 meters along route # Maximum depth: 2337.566197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2264.754333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883901; longitude = -129.123847; captureRadius = 10; duration = 136; initialDepth = 2264.824687; finalDepth = 2264.754333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0368160000003 # Actual altitude: 65.0368160000003 # Commanded vehicle depth:2264.754333 # Seafloor depth:-2329.791149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 260.15; 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 = 260.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 136.168175 meters # Minimum depth: 2329.824687 meters looking forward 200.000000 meters along route # Maximum depth: 2335.107879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2264.824687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884800; longitude = -129.123302; captureRadius = 10; duration = 136; initialDepth = 2265.889438; finalDepth = 2264.824687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4728790000004 # Actual altitude: 65.4728790000004 # Commanded vehicle depth:2264.824687 # Seafloor depth:-2330.297566 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.89; 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 = 261.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 136.168175 meters # Minimum depth: 2330.889438 meters looking forward 200.000000 meters along route # Maximum depth: 2341.392627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2265.889438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885700; longitude = -129.122757; captureRadius = 10; duration = 136; initialDepth = 2273.074789; finalDepth = 2265.889438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4268480000001 # Actual altitude: 70.4268480000001 # Commanded vehicle depth:2265.889438 # Seafloor depth:-2336.316286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.71; 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 = 281.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 136.168175 meters # Minimum depth: 2338.074789 meters looking forward 200.000000 meters along route # Maximum depth: 2343.574026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2273.074789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886599; longitude = -129.122211; captureRadius = 10; duration = 136; initialDepth = 2277.743892; finalDepth = 2273.074789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4268480000001 # Actual altitude: 70.4268480000001 # Commanded vehicle depth:2273.074789 # Seafloor depth:-2342.218552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.71; 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 = 281.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 136.168175 meters # Minimum depth: 2342.743892 meters looking forward 200.000000 meters along route # Maximum depth: 2344.984603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2277.743892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887499; longitude = -129.121666; captureRadius = 10; duration = 136; initialDepth = 2269.808570; finalDepth = 2277.743892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.143763 # Actual altitude: 69.143763 # Commanded vehicle depth:2277.743892 # Seafloor depth:-2343.677148 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.58; 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 = 276.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.58; 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 37 # Segment length 136.168175 meters # Minimum depth: 2334.808570 meters looking forward 200.000000 meters along route # Maximum depth: 2345.021545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2269.808570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888338; longitude = -129.121157; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2261.912406; finalDepth = 2269.808570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2129749999999 # Actual altitude: 75.2129749999999 # Commanded vehicle depth:2269.80857 # Seafloor depth:-2345.021545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 300.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 136.168175 meters # Minimum depth: 2326.912406 meters looking forward 200.000000 meters along route # Maximum depth: 2345.021545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2261.912406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887667; longitude = -129.120533; captureRadius = 10; duration = 136; initialDepth = 2260.827908; finalDepth = 2261.912406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75.2129749999999 # Actual altitude: 75.2129749999999 # Commanded vehicle depth:2261.912406 # Seafloor depth:-2334.706900 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 300.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 136.168175 meters # Minimum depth: 2325.827908 meters looking forward 200.000000 meters along route # Maximum depth: 2339.102613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2260.827908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886899; longitude = -129.119819; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2257.456039; finalDepth = 2260.827908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7944940000002 # Actual altitude: 72.7944940000002 # Commanded vehicle depth:2260.827908 # Seafloor depth:-2326.348572 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.56; MB_Bottom_Detect_Filter_Max_Range = 291.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 136.168175 meters # Minimum depth: 2322.456039 meters looking forward 200.000000 meters along route # Maximum depth: 2330.359614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2257.456039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886509; longitude = -129.120054; captureRadius = 10; duration = 136; initialDepth = 2255.129641; finalDepth = 2257.456039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9176229999998 # Actual altitude: 67.9176229999998 # Commanded vehicle depth:2257.456039 # Seafloor depth:-2325.373662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.67; 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 = 271.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 136.168175 meters # Minimum depth: 2320.129641 meters looking forward 200.000000 meters along route # Maximum depth: 2324.745224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2255.129641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885610; longitude = -129.120595; captureRadius = 10; duration = 136; initialDepth = 2255.129641; finalDepth = 2255.129641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9176229999998 # Actual altitude: 67.9176229999998 # Commanded vehicle depth:2255.129641 # Seafloor depth:-2322.242889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.67; 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 = 271.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 136.168175 meters # Minimum depth: 2320.129641 meters looking forward 200.000000 meters along route # Maximum depth: 2328.556316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2255.129641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884710; longitude = -129.121137; captureRadius = 10; duration = 136; initialDepth = 2256.170486; finalDepth = 2255.129641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1132480000001 # Actual altitude: 67.1132480000001 # Commanded vehicle depth:2255.129641 # Seafloor depth:-2320.534253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.45; 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 = 268.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 136.168175 meters # Minimum depth: 2321.170486 meters looking forward 200.000000 meters along route # Maximum depth: 2331.618156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2256.170486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883811; longitude = -129.121678; captureRadius = 10; duration = 136; initialDepth = 2260.677834; finalDepth = 2256.170486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.406743 # Actual altitude: 73.406743 # Commanded vehicle depth:2256.170486 # Seafloor depth:-2329.577229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.68; MB_Bottom_Detect_Filter_Max_Range = 293.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.63; 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 35 # Segment length 136.168175 meters # Minimum depth: 2325.677834 meters looking forward 200.000000 meters along route # Maximum depth: 2336.969592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2260.677834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.882972; longitude = -129.122183; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2266.141491; finalDepth = 2260.677834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.406743 # Actual altitude: 73.406743 # Commanded vehicle depth:2260.677834 # Seafloor depth:-2331.598816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.68; MB_Bottom_Detect_Filter_Max_Range = 293.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 136.168175 meters # Minimum depth: 2331.141491 meters looking forward 200.000000 meters along route # Maximum depth: 2340.086449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2266.141491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.882805; longitude = -129.121603; captureRadius = 10; duration = 136; initialDepth = 2266.165679; finalDepth = 2266.141491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 71.3889640000002 # Actual altitude: 71.3889640000002 # Commanded vehicle depth:2266.141491 # Seafloor depth:-2337.530455 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.56; 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 = 285.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 136.168175 meters # Minimum depth: 2331.165679 meters looking forward 200.000000 meters along route # Maximum depth: 2342.053782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2266.165679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.882432; longitude = -129.120310; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2270.461479; finalDepth = 2266.165679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.914338 # Actual altitude: 72.914338 # Commanded vehicle depth:2266.165679 # Seafloor depth:-2339.080017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.58; MB_Bottom_Detect_Filter_Max_Range = 291.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 136.168175 meters # Minimum depth: 2339.080017 meters looking forward 200.000000 meters along route # Maximum depth: 2350.800461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2270.461479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.882552; longitude = -129.120240; captureRadius = 10; duration = 136; initialDepth = 2278.087553; finalDepth = 2270.461479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9897744000004 # Actual altitude: 72.9897744000004 # Commanded vehicle depth:2270.4614786 # Seafloor depth:-2343.451253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.96; 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 = 291.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 136.168175 meters # Minimum depth: 2343.087553 meters looking forward 200.000000 meters along route # Maximum depth: 2350.800461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2278.087553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883419; longitude = -129.119730; captureRadius = 10; duration = 136; initialDepth = 2274.466601; finalDepth = 2278.087553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9897744000004 # Actual altitude: 72.9897744000004 # Commanded vehicle depth:2278.087553 # Seafloor depth:-2348.762289 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.96; 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 = 291.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 136.168175 meters # Minimum depth: 2339.466601 meters looking forward 200.000000 meters along route # Maximum depth: 2347.736182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2274.466601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884261; longitude = -129.119235; captureRadius = 10; duration = 136; initialDepth = 2272.624225; finalDepth = 2274.466601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6747359999999 # Actual altitude: 70.6747359999999 # Commanded vehicle depth:2274.466601 # Seafloor depth:-2342.348329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.70; 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 = 282.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 136.168175 meters # Minimum depth: 2337.624225 meters looking forward 200.000000 meters along route # Maximum depth: 2341.894211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2272.624225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885160; longitude = -129.118707; captureRadius = 10; duration = 136; initialDepth = 2265.363156; finalDepth = 2272.624225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8817279999998 # Actual altitude: 67.8817279999998 # Commanded vehicle depth:2272.624225 # Seafloor depth:-2339.224378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.53; 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 = 271.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 136.168175 meters # Minimum depth: 2330.363156 meters looking forward 200.000000 meters along route # Maximum depth: 2339.820214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2265.363156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886000; longitude = -129.118213; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2255.663165; finalDepth = 2265.363156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.316104 # Actual altitude: 72.316104 # Commanded vehicle depth:2265.363156 # Seafloor depth:-2337.679260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.46; MB_Bottom_Detect_Filter_Max_Range = 289.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 136.168175 meters # Minimum depth: 2320.663165 meters looking forward 200.000000 meters along route # Maximum depth: 2338.377581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2255.663165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886599; longitude = -129.118420; captureRadius = 10; duration = 136; initialDepth = 2255.545043; finalDepth = 2255.663165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4947940000002 # Actual altitude: 73.4947940000002 # Commanded vehicle depth:2255.663165 # Seafloor depth:-2329.157959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.70; MB_Bottom_Detect_Filter_Max_Range = 293.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 136.168175 meters # Minimum depth: 2320.545043 meters looking forward 200.000000 meters along route # Maximum depth: 2327.709549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2255.545043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887499; longitude = -129.118732; captureRadius = 10; duration = 136; initialDepth = 2255.558319; finalDepth = 2255.545043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4947940000002 # Actual altitude: 73.4947940000002 # Commanded vehicle depth:2255.545043 # Seafloor depth:-2320.545043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.70; MB_Bottom_Detect_Filter_Max_Range = 293.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 136.168175 meters # Minimum depth: 2320.558319 meters looking forward 200.000000 meters along route # Maximum depth: 2332.054114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2255.558319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888398; longitude = -129.119043; captureRadius = 10; duration = 136; initialDepth = 2258.716580; finalDepth = 2255.558319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8187109999999 # Actual altitude: 67.8187109999999 # Commanded vehicle depth:2255.558319 # Seafloor depth:-2323.377030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.27; 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 = 271.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 136.168175 meters # Minimum depth: 2323.716580 meters looking forward 200.000000 meters along route # Maximum depth: 2336.650620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2258.716580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889297; longitude = -129.119355; captureRadius = 10; duration = 136; initialDepth = 2264.875669; finalDepth = 2258.716580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.2008830000004 # Actual altitude: 74.2008830000004 # Commanded vehicle depth:2258.71658 # Seafloor depth:-2332.917463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.84; MB_Bottom_Detect_Filter_Max_Range = 296.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 136.168175 meters # Minimum depth: 2329.875669 meters looking forward 200.000000 meters along route # Maximum depth: 2336.781839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2264.875669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890197; longitude = -129.119666; captureRadius = 10; duration = 136; initialDepth = 2249.558424; finalDepth = 2264.875669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.2008830000004 # Actual altitude: 74.2008830000004 # Commanded vehicle depth:2264.875669 # Seafloor depth:-2336.720770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.84; MB_Bottom_Detect_Filter_Max_Range = 296.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 136.168175 meters # Minimum depth: 2314.558424 meters looking forward 200.000000 meters along route # Maximum depth: 2336.771102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2249.558424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891153; longitude = -129.119997; captureRadius = 10; duration = 136; initialDepth = 2238.265752; finalDepth = 2249.558424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.5658820000003 # Actual altitude: 79.5658820000003 # Commanded vehicle depth:2249.558424 # Seafloor depth:-2329.124306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.26; 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 = 318.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 136.168175 meters # Minimum depth: 2303.265752 meters looking forward 200.000000 meters along route # Maximum depth: 2334.470669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2238.265752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892056; longitude = -129.120310; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2218.415942; finalDepth = 2238.265752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.5658820000003 # Actual altitude: 79.5658820000003 # Commanded vehicle depth:2238.265752 # Seafloor depth:-2313.421692 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.26; 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 = 318.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2283.415942 meters looking forward 200.000000 meters along route # Maximum depth: 2322.689745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2218.415942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892445; longitude = -129.120271; captureRadius = 10; duration = 136; initialDepth = 2218.415942; finalDepth = 2218.415942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.891779 # Actual altitude: 81.891779 # Commanded vehicle depth:2218.415942 # Seafloor depth:-2300.307721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2283.415942 meters looking forward 200.000000 meters along route # Maximum depth: 2298.332953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2218.415942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893345; longitude = -129.120182; captureRadius = 10; duration = 136; initialDepth = 2216.295476; finalDepth = 2218.415942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.891779 # Actual altitude: 81.891779 # Commanded vehicle depth:2218.415942 # Seafloor depth:-2286.234482 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2281.295476 meters looking forward 200.000000 meters along route # Maximum depth: 2292.404250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2216.295476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894244; longitude = -129.120093; captureRadius = 10; duration = 136; initialDepth = 2203.102345; finalDepth = 2216.295476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.260299 # Actual altitude: 74.260299 # Commanded vehicle depth:2216.295476 # Seafloor depth:-2290.555775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.04; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.85; MB_Bottom_Detect_Filter_Max_Range = 297.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2268.102345 meters looking forward 200.000000 meters along route # Maximum depth: 2289.757647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2203.102345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895143; longitude = -129.120003; captureRadius = 10; duration = 136; initialDepth = 2190.623949; finalDepth = 2203.102345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2129730000001 # Actual altitude: 77.2129730000001 # Commanded vehicle depth:2203.102345 # Seafloor depth:-2280.315318 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2255.623949 meters looking forward 200.000000 meters along route # Maximum depth: 2279.631240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2190.623949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896043; longitude = -129.119914; captureRadius = 10; duration = 136; initialDepth = 2188.128346; finalDepth = 2190.623949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2129730000001 # Actual altitude: 77.2129730000001 # Commanded vehicle depth:2190.623949 # Seafloor depth:-2266.120070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2253.128346 meters looking forward 200.000000 meters along route # Maximum depth: 2264.140803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2188.128346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896942; longitude = -129.119825; captureRadius = 10; duration = 136; initialDepth = 2186.505050; finalDepth = 2188.128346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4961210000001 # Actual altitude: 75.4961210000001 # Commanded vehicle depth:2188.128346 # Seafloor depth:-2255.540327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.98; 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 = 301.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 136.168175 meters # Minimum depth: 2251.505050 meters looking forward 200.000000 meters along route # Maximum depth: 2255.643167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2186.505050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897898; longitude = -129.119730; captureRadius = 10; duration = 136; initialDepth = 2184.944458; finalDepth = 2186.505050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4119810000002 # Actual altitude: 67.4119810000002 # Commanded vehicle depth:2186.50505 # Seafloor depth:-2253.020461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.65; 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 = 269.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 136.168175 meters # Minimum depth: 2249.944458 meters looking forward 200.000000 meters along route # Maximum depth: 2254.302150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2184.944458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898801; longitude = -129.119640; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2184.122082; finalDepth = 2184.944458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4232179999999 # Actual altitude: 67.4232179999999 # Commanded vehicle depth:2184.944458 # Seafloor depth:-2252.367676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.69; 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 = 269.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.168175 meters # Minimum depth: 2249.122082 meters looking forward 200.000000 meters along route # Maximum depth: 2252.367676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2184.122082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899297; longitude = -129.119328; captureRadius = 10; duration = 136; initialDepth = 2184.122082; finalDepth = 2184.122082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4232179999999 # Actual altitude: 67.4232179999999 # Commanded vehicle depth:2184.122082 # Seafloor depth:-2249.909839 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.69; 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 = 269.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.168175 meters # Minimum depth: 2249.122082 meters looking forward 200.000000 meters along route # Maximum depth: 2254.010694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2184.122082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900149; longitude = -129.118793; captureRadius = 10; duration = 136; initialDepth = 2185.437376; finalDepth = 2184.122082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1529110000001 # Actual altitude: 66.1529110000001 # Commanded vehicle depth:2184.122082 # Seafloor depth:-2250.274993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.61; 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 = 264.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.168175 meters # Minimum depth: 2250.437376 meters looking forward 200.000000 meters along route # Maximum depth: 2258.942420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2185.437376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901001; longitude = -129.118257; captureRadius = 10; duration = 136; initialDepth = 2190.298360; finalDepth = 2185.437376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6381850000002 # Actual altitude: 68.6381850000002 # Commanded vehicle depth:2185.437376 # Seafloor depth:-2254.075561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.55; 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 = 274.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.168175 meters # Minimum depth: 2255.298360 meters looking forward 200.000000 meters along route # Maximum depth: 2261.215588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2190.298360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901889; longitude = -129.117700; captureRadius = 10; duration = 136; initialDepth = 2194.429217; finalDepth = 2190.298360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7674320000001 # Actual altitude: 68.7674320000001 # Commanded vehicle depth:2190.29836 # Seafloor depth:-2259.065792 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.07; 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 = 275.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 136.168175 meters # Minimum depth: 2259.429217 meters looking forward 200.000000 meters along route # Maximum depth: 2264.903553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2194.429217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902788; longitude = -129.117135; captureRadius = 10; duration = 136; initialDepth = 2196.163084; finalDepth = 2194.429217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7674320000001 # Actual altitude: 68.7674320000001 # Commanded vehicle depth:2194.429217 # Seafloor depth:-2261.384065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.07; 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 = 275.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 136.168175 meters # Minimum depth: 2261.163084 meters looking forward 200.000000 meters along route # Maximum depth: 2264.903553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2196.163084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903628; longitude = -129.116607; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2194.109140; finalDepth = 2196.163084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6503930000003 # Actual altitude: 68.6503930000003 # Commanded vehicle depth:2196.163084 # Seafloor depth:-2264.813477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.60; 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 = 274.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2259.109140 meters looking forward 200.000000 meters along route # Maximum depth: 2264.903553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2194.109140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904227; longitude = -129.116051; captureRadius = 10; duration = 136; initialDepth = 2191.298408; finalDepth = 2194.109140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6503930000003 # Actual altitude: 68.6503930000003 # Commanded vehicle depth:2194.10914 # Seafloor depth:-2262.245213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.60; 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 = 274.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2256.298408 meters looking forward 200.000000 meters along route # Maximum depth: 2261.356194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2191.298408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905037; longitude = -129.115300; captureRadius = 10; duration = 136; initialDepth = 2190.510038; finalDepth = 2191.298408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1360730000001 # Actual altitude: 68.1360730000001 # Commanded vehicle depth:2191.298408 # Seafloor depth:-2259.068993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.54; 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 = 272.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2255.510038 meters looking forward 200.000000 meters along route # Maximum depth: 2258.848497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2190.510038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905846; longitude = -129.114549; captureRadius = 10; duration = 136; initialDepth = 2185.731061; finalDepth = 2190.510038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7705849999998 # Actual altitude: 67.7705849999998 # Commanded vehicle depth:2190.510038 # Seafloor depth:-2256.212136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.08; 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 = 271.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2250.731061 meters looking forward 200.000000 meters along route # Maximum depth: 2256.185346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2185.731061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906610; longitude = -129.113841; captureRadius = 10; duration = 136; initialDepth = 2183.139838; finalDepth = 2185.731061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9398510000001 # Actual altitude: 69.9398510000001 # Commanded vehicle depth:2185.731061 # Seafloor depth:-2255.670912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.76; 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 = 279.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2248.139838 meters looking forward 200.000000 meters along route # Maximum depth: 2255.163854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2183.139838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907375; longitude = -129.113131; captureRadius = 10; duration = 136; initialDepth = 2179.950974; finalDepth = 2183.139838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9398510000001 # Actual altitude: 69.9398510000001 # Commanded vehicle depth:2183.139838 # Seafloor depth:-2250.415703 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.76; 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 = 279.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2244.950974 meters looking forward 200.000000 meters along route # Maximum depth: 2249.734265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2179.950974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908197; longitude = -129.112369; captureRadius = 10; duration = 136; initialDepth = 2179.147194; finalDepth = 2179.950974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1214250000003 # Actual altitude: 68.1214250000003 # Commanded vehicle depth:2179.950974 # Seafloor depth:-2248.072399 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.49; 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 = 272.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2244.147194 meters looking forward 200.000000 meters along route # Maximum depth: 2247.644870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2179.147194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908994; longitude = -129.111629; captureRadius = 10; duration = 136; initialDepth = 2178.753653; finalDepth = 2179.147194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1214250000003 # Actual altitude: 68.1214250000003 # Commanded vehicle depth:2179.147194 # Seafloor depth:-2244.865045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.49; 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 = 272.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 136.168175 meters # Minimum depth: 2243.753653 meters looking forward 200.000000 meters along route # Maximum depth: 2245.184129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2178.753653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909784; longitude = -129.110897; captureRadius = 10; duration = 136; initialDepth = 2172.369254; finalDepth = 2178.753653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7178509999999 # Actual altitude: 65.7178509999999 # Commanded vehicle depth:2178.753653 # Seafloor depth:-2244.292859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.14; MB_Bottom_Detect_Filter_Max_Range = 262.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 136.168175 meters # Minimum depth: 2237.369254 meters looking forward 200.000000 meters along route # Maximum depth: 2245.184129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.369254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910553; longitude = -129.110183; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2160.428881; finalDepth = 2172.369254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0476159999998 # Actual altitude: 71.0476159999998 # Commanded vehicle depth:2172.369254 # Seafloor depth:-2243.416870 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.19; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.21; MB_Bottom_Detect_Filter_Max_Range = 284.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.168175 meters # Minimum depth: 2225.428881 meters looking forward 200.000000 meters along route # Maximum depth: 2243.105938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2160.428881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911423; longitude = -129.109665; captureRadius = 10; duration = 136; initialDepth = 2160.208378; finalDepth = 2160.428881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.314249 # Actual altitude: 76.314249 # Commanded vehicle depth:2160.428881 # Seafloor depth:-2236.743130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.26; 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 = 305.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.168175 meters # Minimum depth: 2225.208378 meters looking forward 200.000000 meters along route # Maximum depth: 2235.244747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2160.208378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912278; longitude = -129.109157; captureRadius = 10; duration = 136; initialDepth = 2160.437143; finalDepth = 2160.208378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.314249 # Actual altitude: 76.314249 # Commanded vehicle depth:2160.208378 # Seafloor depth:-2225.285954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.26; 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 = 305.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 136.168175 meters # Minimum depth: 2225.437143 meters looking forward 200.000000 meters along route # Maximum depth: 2234.879791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2160.437143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913132; longitude = -129.108648; captureRadius = 10; duration = 136; initialDepth = 2160.645777; finalDepth = 2160.437143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7659739999999 # Actual altitude: 66.7659739999999 # Commanded vehicle depth:2160.437143 # Seafloor depth:-2227.203117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.06; 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 = 267.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.06; 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 136.168175 meters # Minimum depth: 2225.645777 meters looking forward 200.000000 meters along route # Maximum depth: 2235.071533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2160.645777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914001; longitude = -129.108131; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2160.111511; finalDepth = 2160.645777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4257559999996 # Actual altitude: 74.4257559999996 # Commanded vehicle depth:2160.645777 # Seafloor depth:-2235.071533 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 297.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2225.111511 meters looking forward 200.000000 meters along route # Maximum depth: 2235.071533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2160.111511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913851; longitude = -129.108107; captureRadius = 10; duration = 136; initialDepth = 2159.879477; finalDepth = 2160.111511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4257559999996 # Actual altitude: 74.4257559999996 # Commanded vehicle depth:2160.111511 # Seafloor depth:-2233.805879 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 297.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2224.879477 meters looking forward 200.000000 meters along route # Maximum depth: 2232.807680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2159.879477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912952; longitude = -129.107961; captureRadius = 10; duration = 136; initialDepth = 2159.954280; finalDepth = 2159.879477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6943679999999 # Actual altitude: 73.6943679999999 # Commanded vehicle depth:2159.879477 # Seafloor depth:-2224.879477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.78; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.74; MB_Bottom_Detect_Filter_Max_Range = 294.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2224.954280 meters looking forward 200.000000 meters along route # Maximum depth: 2250.338400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2159.954280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912052; longitude = -129.107816; captureRadius = 10; duration = 136; initialDepth = 2167.452580; finalDepth = 2159.954280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8798299999999 # Actual altitude: 70.8798299999999 # Commanded vehicle depth:2159.95428 # Seafloor depth:-2230.834110 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.52; 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 = 283.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2232.452580 meters looking forward 200.000000 meters along route # Maximum depth: 2257.509071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.452580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911153; longitude = -129.107670; captureRadius = 10; duration = 136; initialDepth = 2188.161911; finalDepth = 2167.452580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3579909999999 # Actual altitude: 84.3579909999999 # Commanded vehicle depth:2167.45258 # Seafloor depth:-2251.810571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 337.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2253.161911 meters looking forward 200.000000 meters along route # Maximum depth: 2260.200377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2188.161911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910253; longitude = -129.107525; captureRadius = 10; duration = 136; initialDepth = 2192.461027; finalDepth = 2188.161911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3579909999999 # Actual altitude: 84.3579909999999 # Commanded vehicle depth:2188.161911 # Seafloor depth:-2257.344505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 337.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2257.461027 meters looking forward 200.000000 meters along route # Maximum depth: 2271.814344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2192.461027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909354; longitude = -129.107379; captureRadius = 10; duration = 136; initialDepth = 2196.237559; finalDepth = 2192.461027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1825939999999 # Actual altitude: 69.1825939999999 # Commanded vehicle depth:2192.461027 # Seafloor depth:-2260.592419 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.73; 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 = 276.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2261.237559 meters looking forward 200.000000 meters along route # Maximum depth: 2282.901518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2196.237559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908455; longitude = -129.107234; captureRadius = 10; duration = 136; initialDepth = 2209.214784; finalDepth = 2196.237559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8470299999999 # Actual altitude: 76.8470299999999 # Commanded vehicle depth:2196.237559 # Seafloor depth:-2273.084589 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.39; 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 = 307.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2274.214784 meters looking forward 200.000000 meters along route # Maximum depth: 2286.904466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2209.214784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907555; longitude = -129.107088; captureRadius = 10; duration = 136; initialDepth = 2219.475170; finalDepth = 2209.214784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8470299999999 # Actual altitude: 76.8470299999999 # Commanded vehicle depth:2209.214784 # Seafloor depth:-2283.911080 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.39; 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 = 307.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 136.168175 meters # Minimum depth: 2284.475170 meters looking forward 200.000000 meters along route # Maximum depth: 2286.904466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2219.475170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906656; longitude = -129.106942; captureRadius = 10; duration = 136; initialDepth = 2219.321855; finalDepth = 2219.475170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6962960000001 # Actual altitude: 74.6962960000001 # Commanded vehicle depth:2219.47517 # Seafloor depth:-2285.741193 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 298.79; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.94; MB_Bottom_Detect_Filter_Max_Range = 298.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.79; 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 136.168175 meters # Minimum depth: 2284.321855 meters looking forward 200.000000 meters along route # Maximum depth: 2286.904466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2219.321855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905726; longitude = -129.106792; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2215.914349; finalDepth = 2219.321855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2660229999997 # Actual altitude: 66.2660229999997 # Commanded vehicle depth:2219.321855 # Seafloor depth:-2284.834656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.06; 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 = 265.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2280.914349 meters looking forward 200.000000 meters along route # Maximum depth: 2284.834656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2215.914349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906026; longitude = -129.106610; captureRadius = 10; duration = 136; initialDepth = 2210.961268; finalDepth = 2215.914349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.401695 # Actual altitude: 68.401695 # Commanded vehicle depth:2215.914349 # Seafloor depth:-2284.316044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.61; 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 = 273.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2275.961268 meters looking forward 200.000000 meters along route # Maximum depth: 2283.928429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2210.961268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906926; longitude = -129.106067; captureRadius = 10; duration = 136; initialDepth = 2205.607921; finalDepth = 2210.961268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8723519999999 # Actual altitude: 69.8723519999999 # Commanded vehicle depth:2210.961268 # Seafloor depth:-2280.833620 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.97; MB_Bottom_Detect_Filter_Max_Range = 279.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2270.607921 meters looking forward 200.000000 meters along route # Maximum depth: 2280.322064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2205.607921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907825; longitude = -129.105523; captureRadius = 10; duration = 136; initialDepth = 2198.006011; finalDepth = 2205.607921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1189020000002 # Actual altitude: 70.1189020000002 # Commanded vehicle depth:2205.607921 # Seafloor depth:-2275.726823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.48; 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 = 280.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2263.006011 meters looking forward 200.000000 meters along route # Maximum depth: 2275.042313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2198.006011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908724; longitude = -129.104979; captureRadius = 10; duration = 136; initialDepth = 2191.356513; finalDepth = 2198.006011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3004000000001 # Actual altitude: 72.3004000000001 # Commanded vehicle depth:2198.006011 # Seafloor depth:-2270.306411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.46; MB_Bottom_Detect_Filter_Max_Range = 289.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2256.356513 meters looking forward 200.000000 meters along route # Maximum depth: 2269.599431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2191.356513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909563; longitude = -129.104472; captureRadius = 10; duration = 136; initialDepth = 2183.718028; finalDepth = 2191.356513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3004000000001 # Actual altitude: 72.3004000000001 # Commanded vehicle depth:2191.356513 # Seafloor depth:-2262.951089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.46; MB_Bottom_Detect_Filter_Max_Range = 289.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2248.718028 meters looking forward 200.000000 meters along route # Maximum depth: 2262.662956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2183.718028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910449; longitude = -129.103937; captureRadius = 10; duration = 136; initialDepth = 2167.571961; finalDepth = 2183.718028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4456620000001 # Actual altitude: 72.4456620000001 # Commanded vehicle depth:2183.718028 # Seafloor depth:-2256.163690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.78; 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 = 289.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2232.571961 meters looking forward 200.000000 meters along route # Maximum depth: 2254.273906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.571961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911334; longitude = -129.103402; captureRadius = 10; duration = 136; initialDepth = 2150.999349; finalDepth = 2167.571961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1307079999997 # Actual altitude: 81.1307079999997 # Commanded vehicle depth:2167.571961 # Seafloor depth:-2248.702669 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.23; MB_Bottom_Detect_Filter_Max_Range = 324.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2215.999349 meters looking forward 200.000000 meters along route # Maximum depth: 2246.927063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2150.999349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912232; longitude = -129.102859; captureRadius = 10; duration = 136; initialDepth = 2135.941089; finalDepth = 2150.999349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3114329999999 # Actual altitude: 81.3114329999999 # Commanded vehicle depth:2150.999349 # Seafloor depth:-2232.310782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.26; MB_Bottom_Detect_Filter_Max_Range = 325.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2200.941089 meters looking forward 200.000000 meters along route # Maximum depth: 2228.944494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.941089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913132; longitude = -129.102315; captureRadius = 10; duration = 136; initialDepth = 2123.473088; finalDepth = 2135.941089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3114329999999 # Actual altitude: 81.3114329999999 # Commanded vehicle depth:2135.941089 # Seafloor depth:-2215.399201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.26; MB_Bottom_Detect_Filter_Max_Range = 325.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2188.473088 meters looking forward 200.000000 meters along route # Maximum depth: 2211.569028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.473088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914031; longitude = -129.101772; captureRadius = 10; duration = 136; initialDepth = 2116.034952; finalDepth = 2123.473088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4581120000003 # Actual altitude: 79.4581120000003 # Commanded vehicle depth:2123.473088 # Seafloor depth:-2200.507162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 317.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2181.034952 meters looking forward 200.000000 meters along route # Maximum depth: 2198.413991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.034952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914930; longitude = -129.101228; captureRadius = 10; duration = 136; initialDepth = 2110.006874; finalDepth = 2116.034952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0340739999997 # Actual altitude: 77.0340739999997 # Commanded vehicle depth:2116.034952 # Seafloor depth:-2187.638804 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.14; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2175.006874 meters looking forward 200.000000 meters along route # Maximum depth: 2185.314056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.006874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915830; longitude = -129.100684; captureRadius = 10; duration = 136; initialDepth = 2100.626720; finalDepth = 2110.006874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6038520000002 # Actual altitude: 71.6038520000002 # Commanded vehicle depth:2110.006874 # Seafloor depth:-2180.719987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.42; 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 = 286.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2165.626720 meters looking forward 200.000000 meters along route # Maximum depth: 2180.043159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.626720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916729; longitude = -129.100141; captureRadius = 10; duration = 136; initialDepth = 2095.554145; finalDepth = 2100.626720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3725339999996 # Actual altitude: 73.3725339999996 # Commanded vehicle depth:2100.62672 # Seafloor depth:-2173.999254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 293.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2160.554145 meters looking forward 200.000000 meters along route # Maximum depth: 2172.142876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.554145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917629; longitude = -129.099597; captureRadius = 10; duration = 136; initialDepth = 2087.543456; finalDepth = 2095.554145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3725339999996 # Actual altitude: 73.3725339999996 # Commanded vehicle depth:2095.554145 # Seafloor depth:-2165.137146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 293.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2152.543456 meters looking forward 200.000000 meters along route # Maximum depth: 2164.184955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.543456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918528; longitude = -129.099053; captureRadius = 10; duration = 136; initialDepth = 2082.155356; finalDepth = 2087.543456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3758210000001 # Actual altitude: 72.3758210000001 # Commanded vehicle depth:2087.543456 # Seafloor depth:-2159.919277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.50; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.48; MB_Bottom_Detect_Filter_Max_Range = 289.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2147.155356 meters looking forward 200.000000 meters along route # Maximum depth: 2158.365914 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.155356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919427; longitude = -129.098510; captureRadius = 10; duration = 136; initialDepth = 2079.213092; finalDepth = 2082.155356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3758210000001 # Actual altitude: 72.3758210000001 # Commanded vehicle depth:2082.155356 # Seafloor depth:-2152.117411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.50; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.48; MB_Bottom_Detect_Filter_Max_Range = 289.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2144.213092 meters looking forward 200.000000 meters along route # Maximum depth: 2151.431876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.213092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920327; longitude = -129.097966; captureRadius = 10; duration = 136; initialDepth = 2076.868828; finalDepth = 2079.213092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.962055 # Actual altitude: 69.962055 # Commanded vehicle depth:2079.213092 # Seafloor depth:-2146.365211 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.85; 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 = 279.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2141.868828 meters looking forward 200.000000 meters along route # Maximum depth: 2145.259193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.868828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921226; longitude = -129.097422; captureRadius = 10; duration = 136; initialDepth = 2075.042207; finalDepth = 2076.868828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4852470000001 # Actual altitude: 67.4852470000001 # Commanded vehicle depth:2076.868828 # Seafloor depth:-2144.354075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.94; 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 = 269.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 136.168175 meters # Minimum depth: 2140.042207 meters looking forward 200.000000 meters along route # Maximum depth: 2144.236514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.042207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922126; longitude = -129.096879; captureRadius = 10; duration = 136; initialDepth = 2075.042207; finalDepth = 2075.042207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4852470000001 # Actual altitude: 67.4852470000001 # Commanded vehicle depth:2075.042207 # Seafloor depth:-2141.487215 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.94; 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 = 269.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.94; 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 136.168175 meters # Minimum depth: 2140.042207 meters looking forward 200.000000 meters along route # Maximum depth: 2146.835792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.042207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922995; longitude = -129.096353; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2076.929963; finalDepth = 2075.042207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4450080000001 # Actual altitude: 66.4450080000001 # Commanded vehicle depth:2075.042207 # Seafloor depth:-2141.109314 # behavior reson { duration = 6; 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 26 # Segment length 136.168175 meters # Minimum depth: 2141.929963 meters looking forward 200.000000 meters along route # Maximum depth: 2146.835792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.929963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923834; longitude = -129.096755; captureRadius = 10; duration = 136; initialDepth = 2076.224904; finalDepth = 2076.929963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 69.87833 # Actual altitude: 69.87833 # Commanded vehicle depth:2076.929963 # Seafloor depth:-2146.808293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.51; 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 = 279.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 136.168175 meters # Minimum depth: 2141.224904 meters looking forward 200.000000 meters along route # Maximum depth: 2146.808293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.224904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924764; longitude = -129.097201; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2074.785423; finalDepth = 2076.224904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.87833 # Actual altitude: 69.87833 # Commanded vehicle depth:2076.224904 # Seafloor depth:-2141.767517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.51; 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 = 279.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2139.785423 meters looking forward 200.000000 meters along route # Maximum depth: 2142.552684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.785423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925453; longitude = -129.096801; captureRadius = 10; duration = 136; initialDepth = 2074.785423; finalDepth = 2074.785423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2893040000004 # Actual altitude: 66.2893040000004 # Commanded vehicle depth:2074.785423 # Seafloor depth:-2141.074727 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.16; 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 = 265.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2139.785423 meters looking forward 200.000000 meters along route # Maximum depth: 2141.720513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.785423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926304; longitude = -129.096308; captureRadius = 10; duration = 136; initialDepth = 2075.903783; finalDepth = 2074.785423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2893040000004 # Actual altitude: 66.2893040000004 # Commanded vehicle depth:2074.785423 # Seafloor depth:-2140.509724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.16; 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 = 265.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2140.903783 meters looking forward 200.000000 meters along route # Maximum depth: 2145.107182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.903783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927162; longitude = -129.095811; captureRadius = 10; duration = 136; initialDepth = 2070.865809; finalDepth = 2075.903783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2861619999999 # Actual altitude: 66.2861619999999 # Commanded vehicle depth:2075.903783 # Seafloor depth:-2142.189945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.14; 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 = 265.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2135.865809 meters looking forward 200.000000 meters along route # Maximum depth: 2145.107182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.865809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928062; longitude = -129.095289; captureRadius = 10; duration = 136; initialDepth = 2062.712860; finalDepth = 2070.865809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.05008 # Actual altitude: 73.05008 # Commanded vehicle depth:2070.865809 # Seafloor depth:-2143.915889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.20; 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 = 292.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2127.712860 meters looking forward 200.000000 meters along route # Maximum depth: 2142.894318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.712860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928961; longitude = -129.094768; captureRadius = 10; duration = 136; initialDepth = 2062.659777; finalDepth = 2062.712860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.05008 # Actual altitude: 73.05008 # Commanded vehicle depth:2062.71286 # Seafloor depth:-2134.531046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.20; 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 = 292.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2127.659777 meters looking forward 200.000000 meters along route # Maximum depth: 2132.100658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.659777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929860; longitude = -129.094246; captureRadius = 10; duration = 136; initialDepth = 2062.758641; finalDepth = 2062.659777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.818186 # Actual altitude: 71.818186 # Commanded vehicle depth:2062.659777 # Seafloor depth:-2127.659777 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.27; 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 = 287.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2127.758641 meters looking forward 200.000000 meters along route # Maximum depth: 2134.821679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.758641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930760; longitude = -129.093725; captureRadius = 10; duration = 136; initialDepth = 2063.237817; finalDepth = 2062.758641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4016780000002 # Actual altitude: 65.4016780000002 # Commanded vehicle depth:2062.758641 # Seafloor depth:-2128.160319 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.08; MB_Bottom_Detect_Filter_Max_Range = 261.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2128.237817 meters looking forward 200.000000 meters along route # Maximum depth: 2134.851835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.237817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931613; longitude = -129.093230; captureRadius = 10; duration = 136; initialDepth = 2056.202697; finalDepth = 2063.237817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6140179999998 # Actual altitude: 71.6140179999998 # Commanded vehicle depth:2063.237817 # Seafloor depth:-2134.851835 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.46; 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 = 286.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2121.202697 meters looking forward 200.000000 meters along route # Maximum depth: 2134.537014 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2056.202697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932469; longitude = -129.092734; captureRadius = 10; duration = 136; initialDepth = 2056.202697; finalDepth = 2056.202697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.42715 # Actual altitude: 73.42715 # Commanded vehicle depth:2056.202697 # Seafloor depth:-2129.629847 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.71; 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 = 293.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2121.202697 meters looking forward 200.000000 meters along route # Maximum depth: 2132.247590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2056.202697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933368; longitude = -129.092213; captureRadius = 10; duration = 136; initialDepth = 2057.639464; finalDepth = 2056.202697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.42715 # Actual altitude: 73.42715 # Commanded vehicle depth:2056.202697 # Seafloor depth:-2121.512140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.71; 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 = 293.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2122.639464 meters looking forward 200.000000 meters along route # Maximum depth: 2135.407199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2057.639464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934268; longitude = -129.091691; captureRadius = 10; duration = 136; initialDepth = 2069.080021; finalDepth = 2057.639464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3246180000001 # Actual altitude: 75.3246180000001 # Commanded vehicle depth:2057.639464 # Seafloor depth:-2132.964082 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 301.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2134.080021 meters looking forward 200.000000 meters along route # Maximum depth: 2135.407199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.080021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935167; longitude = -129.091170; captureRadius = 10; duration = 136; initialDepth = 2069.596562; finalDepth = 2069.080021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3246180000001 # Actual altitude: 75.3246180000001 # Commanded vehicle depth:2069.080021 # Seafloor depth:-2135.158138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 301.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2134.596562 meters looking forward 200.000000 meters along route # Maximum depth: 2139.882163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.596562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936066; longitude = -129.090649; captureRadius = 10; duration = 136; initialDepth = 2070.981185; finalDepth = 2069.596562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0781169999996 # Actual altitude: 66.0781169999996 # Commanded vehicle depth:2069.596562 # Seafloor depth:-2135.620029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.31; 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 = 264.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2135.981185 meters looking forward 200.000000 meters along route # Maximum depth: 2140.515638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.981185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936923; longitude = -129.090152; captureRadius = 10; duration = 136; initialDepth = 2072.570139; finalDepth = 2070.981185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1130760000001 # Actual altitude: 69.1130760000001 # Commanded vehicle depth:2070.981185 # Seafloor depth:-2140.094261 # behavior reson { duration = 6; 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 25 # Segment length 136.168175 meters # Minimum depth: 2137.570139 meters looking forward 200.000000 meters along route # Maximum depth: 2141.895955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.570139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937775; longitude = -129.089658; captureRadius = 10; duration = 136; initialDepth = 2072.570139; finalDepth = 2072.570139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1130760000001 # Actual altitude: 69.1130760000001 # Commanded vehicle depth:2072.570139 # Seafloor depth:-2137.962218 # behavior reson { duration = 6; 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 25 # Segment length 136.168175 meters # Minimum depth: 2137.570139 meters looking forward 200.000000 meters along route # Maximum depth: 2153.187536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.570139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938675; longitude = -129.089137; captureRadius = 10; duration = 136; initialDepth = 2080.522365; finalDepth = 2072.570139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4969719999999 # Actual altitude: 70.4969719999999 # Commanded vehicle depth:2072.570139 # Seafloor depth:-2143.067111 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.99; 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 = 281.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2145.522365 meters looking forward 200.000000 meters along route # Maximum depth: 2161.550139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.522365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939574; longitude = -129.088615; captureRadius = 10; duration = 136; initialDepth = 2091.222879; finalDepth = 2080.522365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7205960000001 # Actual altitude: 73.7205960000001 # Commanded vehicle depth:2080.522365 # Seafloor depth:-2154.242961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.74; MB_Bottom_Detect_Filter_Max_Range = 294.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2156.222879 meters looking forward 200.000000 meters along route # Maximum depth: 2162.240253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.222879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940473; longitude = -129.088094; captureRadius = 10; duration = 136; initialDepth = 2091.940311; finalDepth = 2091.222879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7205960000001 # Actual altitude: 73.7205960000001 # Commanded vehicle depth:2091.222879 # Seafloor depth:-2161.764392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.74; MB_Bottom_Detect_Filter_Max_Range = 294.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2156.940311 meters looking forward 200.000000 meters along route # Maximum depth: 2162.240253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.940311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941373; longitude = -129.087572; captureRadius = 10; duration = 136; initialDepth = 2091.940311; finalDepth = 2091.940311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5415130000001 # Actual altitude: 70.5415130000001 # Commanded vehicle depth:2091.940311 # Seafloor depth:-2159.247423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.17; 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 = 282.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2156.940311 meters looking forward 200.000000 meters along route # Maximum depth: 2166.676131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.940311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942233; longitude = -129.087074; captureRadius = 10; duration = 136; initialDepth = 2092.109231; finalDepth = 2091.940311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1439880000003 # Actual altitude: 68.1439880000003 # Commanded vehicle depth:2091.940311 # Seafloor depth:-2160.084299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.58; 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 = 272.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2157.109231 meters looking forward 200.000000 meters along route # Maximum depth: 2166.891860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.109231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943082; longitude = -129.086582; captureRadius = 10; duration = 136; initialDepth = 2075.367561; finalDepth = 2092.109231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.675581 # Actual altitude: 74.675581 # Commanded vehicle depth:2092.109231 # Seafloor depth:-2166.784812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 298.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.94; MB_Bottom_Detect_Filter_Max_Range = 298.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2140.367561 meters looking forward 200.000000 meters along route # Maximum depth: 2166.677502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.367561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943981; longitude = -129.086060; captureRadius = 10; duration = 136; initialDepth = 2069.512812; finalDepth = 2075.367561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4675309999998 # Actual altitude: 79.4675309999998 # Commanded vehicle depth:2075.367561 # Seafloor depth:-2154.835092 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 317.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2134.512812 meters looking forward 200.000000 meters along route # Maximum depth: 2150.303630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.512812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944881; longitude = -129.085539; captureRadius = 10; duration = 136; initialDepth = 2068.320070; finalDepth = 2069.512812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4675309999998 # Actual altitude: 79.4675309999998 # Commanded vehicle depth:2069.512812 # Seafloor depth:-2139.396856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 317.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2133.320070 meters looking forward 200.000000 meters along route # Maximum depth: 2138.259254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.320070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945780; longitude = -129.085017; captureRadius = 10; duration = 136; initialDepth = 2066.819437; finalDepth = 2068.320070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8840439999999 # Actual altitude: 69.8840439999999 # Commanded vehicle depth:2068.32007 # Seafloor depth:-2134.215391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.54; 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 = 279.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2131.819437 meters looking forward 200.000000 meters along route # Maximum depth: 2134.884820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.819437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946679; longitude = -129.084496; captureRadius = 10; duration = 136; initialDepth = 2064.908497; finalDepth = 2066.819437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9182430000001 # Actual altitude: 67.9182430000001 # Commanded vehicle depth:2066.819437 # Seafloor depth:-2134.737680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.67; 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 = 271.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2129.908497 meters looking forward 200.000000 meters along route # Maximum depth: 2134.884820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.908497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947543; longitude = -129.083996; captureRadius = 10; duration = 136; initialDepth = 2054.867891; finalDepth = 2064.908497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9182430000001 # Actual altitude: 67.9182430000001 # Commanded vehicle depth:2064.908497 # Seafloor depth:-2131.515507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.67; 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 = 271.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2119.867891 meters looking forward 200.000000 meters along route # Maximum depth: 2130.851880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.867891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948388; longitude = -129.083505; captureRadius = 10; duration = 136; initialDepth = 2052.944335; finalDepth = 2054.867891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.2875950000002 # Actual altitude: 74.2875950000002 # Commanded vehicle depth:2054.867891 # Seafloor depth:-2129.155486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.15; 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 = 297.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2117.944335 meters looking forward 200.000000 meters along route # Maximum depth: 2126.837507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2052.944335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949288; longitude = -129.082984; captureRadius = 10; duration = 136; initialDepth = 2048.713043; finalDepth = 2052.944335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.2875950000002 # Actual altitude: 74.2875950000002 # Commanded vehicle depth:2052.944335 # Seafloor depth:-2119.432108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.15; 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 = 297.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2113.713043 meters looking forward 200.000000 meters along route # Maximum depth: 2118.747244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.713043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950187; longitude = -129.082463; captureRadius = 10; duration = 136; initialDepth = 2047.929082; finalDepth = 2048.713043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9768799999997 # Actual altitude: 68.9768799999997 # Commanded vehicle depth:2048.713043 # Seafloor depth:-2117.689923 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.91; 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 = 275.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2112.929082 meters looking forward 200.000000 meters along route # Maximum depth: 2117.064212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.929082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951086; longitude = -129.081941; captureRadius = 10; duration = 136; initialDepth = 2044.875369; finalDepth = 2047.929082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9768799999997 # Actual altitude: 68.9768799999997 # Commanded vehicle depth:2047.929082 # Seafloor depth:-2113.942773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.91; 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 = 275.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2109.875369 meters looking forward 200.000000 meters along route # Maximum depth: 2114.094670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.875369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951986; longitude = -129.081420; captureRadius = 10; duration = 136; initialDepth = 2041.156065; finalDepth = 2044.875369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.149152 # Actual altitude: 68.149152 # Commanded vehicle depth:2044.875369 # Seafloor depth:-2113.024521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.60; 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 = 272.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2106.156065 meters looking forward 200.000000 meters along route # Maximum depth: 2113.040544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.156065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952852; longitude = -129.080917; captureRadius = 10; duration = 136; initialDepth = 2041.156065; finalDepth = 2041.156065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4052469999997 # Actual altitude: 68.4052469999997 # Commanded vehicle depth:2041.156065 # Seafloor depth:-2109.561312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.62; 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 = 273.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2106.156065 meters looking forward 200.000000 meters along route # Maximum depth: 2113.640381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.156065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953695; longitude = -129.080429; captureRadius = 10; duration = 136; initialDepth = 2042.245914; finalDepth = 2041.156065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4052469999997 # Actual altitude: 68.4052469999997 # Commanded vehicle depth:2041.156065 # Seafloor depth:-2106.369171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.62; 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 = 273.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2107.245914 meters looking forward 200.000000 meters along route # Maximum depth: 2114.152563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.245914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954594; longitude = -129.079908; captureRadius = 10; duration = 136; initialDepth = 2043.390883; finalDepth = 2042.245914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8580189999998 # Actual altitude: 71.8580189999998 # Commanded vehicle depth:2042.245914 # Seafloor depth:-2114.103933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.43; 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 = 287.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2108.390883 meters looking forward 200.000000 meters along route # Maximum depth: 2113.854641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.390883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955494; longitude = -129.079386; captureRadius = 10; duration = 136; initialDepth = 2041.980358; finalDepth = 2043.390883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8580189999998 # Actual altitude: 71.8580189999998 # Commanded vehicle depth:2043.390883 # Seafloor depth:-2109.458846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.43; 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 = 287.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2106.980358 meters looking forward 200.000000 meters along route # Maximum depth: 2109.068293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.980358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956393; longitude = -129.078865; captureRadius = 10; duration = 136; initialDepth = 2035.176221; finalDepth = 2041.980358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9319350000001 # Actual altitude: 66.9319350000001 # Commanded vehicle depth:2041.980358 # Seafloor depth:-2108.912293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.73; 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 = 267.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2100.176221 meters looking forward 200.000000 meters along route # Maximum depth: 2109.068293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2035.176221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957292; longitude = -129.078343; captureRadius = 10; duration = 136; initialDepth = 2031.564834; finalDepth = 2035.176221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4709889999999 # Actual altitude: 71.4709889999999 # Commanded vehicle depth:2035.176221 # Seafloor depth:-2106.647210 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.88; 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 = 285.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2096.564834 meters looking forward 200.000000 meters along route # Maximum depth: 2105.939291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.564834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958162; longitude = -129.077839; captureRadius = 10; duration = 136; initialDepth = 2031.126182; finalDepth = 2031.564834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4709889999999 # Actual altitude: 71.4709889999999 # Commanded vehicle depth:2031.564834 # Seafloor depth:-2099.790627 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.88; 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 = 285.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2096.126182 meters looking forward 200.000000 meters along route # Maximum depth: 2099.087858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.126182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959001; longitude = -129.077353; captureRadius = 10; duration = 136; initialDepth = 2031.126182; finalDepth = 2031.126182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2257930000001 # Actual altitude: 68.2257930000001 # Commanded vehicle depth:2031.126182 # Seafloor depth:-2096.386998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.90; 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 = 272.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2096.126182 meters looking forward 200.000000 meters along route # Maximum depth: 2098.770295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.126182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959901; longitude = -129.076831; captureRadius = 10; duration = 136; initialDepth = 2032.979819; finalDepth = 2031.126182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.337145 # Actual altitude: 66.337145 # Commanded vehicle depth:2031.126182 # Seafloor depth:-2097.463327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.35; 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 = 265.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2097.979819 meters looking forward 200.000000 meters along route # Maximum depth: 2098.949061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.979819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960800; longitude = -129.076310; captureRadius = 10; duration = 136; initialDepth = 2030.571223; finalDepth = 2032.979819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.337145 # Actual altitude: 66.337145 # Commanded vehicle depth:2032.979819 # Seafloor depth:-2098.812372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.35; 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 = 265.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2095.571223 meters looking forward 200.000000 meters along route # Maximum depth: 2098.949061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.571223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961699; longitude = -129.075788; captureRadius = 10; duration = 136; initialDepth = 2029.455200; finalDepth = 2030.571223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.801567 # Actual altitude: 67.801567 # Commanded vehicle depth:2030.571223 # Seafloor depth:-2098.372790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.21; 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 = 271.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2094.455200 meters looking forward 200.000000 meters along route # Maximum depth: 2097.995013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.455200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962599; longitude = -129.075267; captureRadius = 10; duration = 136; initialDepth = 2029.455200; finalDepth = 2029.455200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.801567 # Actual altitude: 67.801567 # Commanded vehicle depth:2029.4552 # Seafloor depth:-2095.461812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.21; 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 = 271.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2094.455200 meters looking forward 200.000000 meters along route # Maximum depth: 2096.701459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.455200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963498; longitude = -129.074746; captureRadius = 10; duration = 136; initialDepth = 2030.038511; finalDepth = 2029.455200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0066120000001 # Actual altitude: 66.0066120000001 # Commanded vehicle depth:2029.4552 # Seafloor depth:-2094.709439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.03; 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 = 264.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2095.038511 meters looking forward 200.000000 meters along route # Maximum depth: 2097.950370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.038511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964398; longitude = -129.074224; captureRadius = 10; duration = 136; initialDepth = 2032.155835; finalDepth = 2030.038511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6709979999996 # Actual altitude: 66.6709979999996 # Commanded vehicle depth:2030.038511 # Seafloor depth:-2096.709509 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.68; 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 = 266.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 136.168175 meters # Minimum depth: 2097.155835 meters looking forward 200.000000 meters along route # Maximum depth: 2097.964352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.155835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965319; longitude = -129.073690; captureRadius = 10; duration = 136; initialDepth = 2026.760755; finalDepth = 2032.155835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6709979999996 # Actual altitude: 66.6709979999996 # Commanded vehicle depth:2032.155835 # Seafloor depth:-2097.948033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.68; 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 = 266.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.68; 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 24 # Segment length 136.168175 meters # Minimum depth: 2091.760755 meters looking forward 200.000000 meters along route # Maximum depth: 2097.964352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.760755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966166; longitude = -129.073199; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2019.712653; finalDepth = 2026.760755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4484740000003 # Actual altitude: 70.4484740000003 # Commanded vehicle depth:2026.760755 # Seafloor depth:-2097.209229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.79; 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 = 281.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 136.168175 meters # Minimum depth: 2084.712653 meters looking forward 200.000000 meters along route # Maximum depth: 2097.416700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2019.712653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966357; longitude = -129.073958; captureRadius = 10; duration = 136; initialDepth = 2019.411804; finalDepth = 2019.712653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 71.2287889999998 # Actual altitude: 71.2287889999998 # Commanded vehicle depth:2019.712653 # Seafloor depth:-2090.941442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.92; 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 = 284.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 136.168175 meters # Minimum depth: 2084.411804 meters looking forward 200.000000 meters along route # Maximum depth: 2097.406021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2019.411804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966706; longitude = -129.075341; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2018.142464; finalDepth = 2019.411804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2287889999998 # Actual altitude: 71.2287889999998 # Commanded vehicle depth:2019.411804 # Seafloor depth:-2084.411804 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.92; 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 = 284.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2083.142464 meters looking forward 200.000000 meters along route # Maximum depth: 2089.087583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2018.142464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966646; longitude = -129.075376; captureRadius = 10; duration = 136; initialDepth = 2018.142464; finalDepth = 2018.142464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.165692 # Actual altitude: 66.165692 # Commanded vehicle depth:2018.142464 # Seafloor depth:-2084.308156 # behavior reson { duration = 6; 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 23 # Segment length 136.168175 meters # Minimum depth: 2083.142464 meters looking forward 200.000000 meters along route # Maximum depth: 2085.264672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2018.142464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965747; longitude = -129.075895; captureRadius = 10; duration = 136; initialDepth = 2018.330756; finalDepth = 2018.142464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.165692 # Actual altitude: 66.165692 # Commanded vehicle depth:2018.142464 # Seafloor depth:-2083.188991 # behavior reson { duration = 6; 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 23 # Segment length 136.168175 meters # Minimum depth: 2083.330756 meters looking forward 200.000000 meters along route # Maximum depth: 2086.153359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2018.330756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964847; longitude = -129.076414; captureRadius = 10; duration = 136; initialDepth = 2020.437774; finalDepth = 2018.330756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.057875 # Actual altitude: 67.057875 # Commanded vehicle depth:2018.330756 # Seafloor depth:-2085.388631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.23; 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 = 268.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2085.437774 meters looking forward 200.000000 meters along route # Maximum depth: 2088.262432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.437774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964001; longitude = -129.076902; captureRadius = 10; duration = 136; initialDepth = 2021.346639; finalDepth = 2020.437774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.057875 # Actual altitude: 67.057875 # Commanded vehicle depth:2020.437774 # Seafloor depth:-2086.200893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.23; 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 = 268.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2086.346639 meters looking forward 200.000000 meters along route # Maximum depth: 2091.741696 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.346639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963138; longitude = -129.077400; captureRadius = 10; duration = 136; initialDepth = 2024.359191; finalDepth = 2021.346639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2671950000004 # Actual altitude: 67.2671950000004 # Commanded vehicle depth:2021.346639 # Seafloor depth:-2088.613834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.07; 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 = 269.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2089.359191 meters looking forward 200.000000 meters along route # Maximum depth: 2091.934238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.359191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962239; longitude = -129.077920; captureRadius = 10; duration = 136; initialDepth = 2026.468085; finalDepth = 2024.359191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.493442 # Actual altitude: 67.493442 # Commanded vehicle depth:2024.359191 # Seafloor depth:-2091.852633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.97; 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 = 269.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2091.468085 meters looking forward 200.000000 meters along route # Maximum depth: 2093.215830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.468085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961340; longitude = -129.078439; captureRadius = 10; duration = 136; initialDepth = 2026.468085; finalDepth = 2026.468085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.493442 # Actual altitude: 67.493442 # Commanded vehicle depth:2026.468085 # Seafloor depth:-2091.547089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.97; 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 = 269.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2091.468085 meters looking forward 200.000000 meters along route # Maximum depth: 2095.070702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.468085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960440; longitude = -129.078958; captureRadius = 10; duration = 136; initialDepth = 2028.610371; finalDepth = 2026.468085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9163960000001 # Actual altitude: 66.9163960000001 # Commanded vehicle depth:2026.468085 # Seafloor depth:-2093.384481 # behavior reson { duration = 6; 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 23 # Segment length 136.168175 meters # Minimum depth: 2093.610371 meters looking forward 200.000000 meters along route # Maximum depth: 2097.278684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2028.610371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959596; longitude = -129.079445; captureRadius = 10; duration = 136; initialDepth = 2030.582585; finalDepth = 2028.610371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9163960000001 # Actual altitude: 66.9163960000001 # Commanded vehicle depth:2028.610371 # Seafloor depth:-2095.173509 # behavior reson { duration = 6; 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 23 # Segment length 136.168175 meters # Minimum depth: 2095.582585 meters looking forward 200.000000 meters along route # Maximum depth: 2101.192668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.582585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.079944; captureRadius = 10; duration = 136; initialDepth = 2033.548964; finalDepth = 2030.582585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.061553 # Actual altitude: 67.061553 # Commanded vehicle depth:2030.582585 # Seafloor depth:-2097.644138 # behavior reson { duration = 6; 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 23 # Segment length 136.168175 meters # Minimum depth: 2098.548964 meters looking forward 200.000000 meters along route # Maximum depth: 2102.403952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2033.548964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957832; longitude = -129.080463; captureRadius = 10; duration = 136; initialDepth = 2031.010653; finalDepth = 2033.548964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8909399999998 # Actual altitude: 67.8909399999998 # Commanded vehicle depth:2033.548964 # Seafloor depth:-2101.439904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.56; 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 = 271.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2096.010653 meters looking forward 200.000000 meters along route # Maximum depth: 2102.403952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.010653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956933; longitude = -129.080983; captureRadius = 10; duration = 136; initialDepth = 2026.051679; finalDepth = 2031.010653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3256880000004 # Actual altitude: 71.3256880000004 # Commanded vehicle depth:2031.010653 # Seafloor depth:-2102.336341 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.30; 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 = 285.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2091.051679 meters looking forward 200.000000 meters along route # Maximum depth: 2102.258218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.051679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956033; longitude = -129.081502; captureRadius = 10; duration = 136; initialDepth = 2026.051679; finalDepth = 2026.051679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3256880000004 # Actual altitude: 71.3256880000004 # Commanded vehicle depth:2026.051679 # Seafloor depth:-2094.909975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.30; 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 = 285.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2091.051679 meters looking forward 200.000000 meters along route # Maximum depth: 2093.832967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.051679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955191; longitude = -129.081988; captureRadius = 10; duration = 136; initialDepth = 2023.913315; finalDepth = 2026.051679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8582959999999 # Actual altitude: 68.8582959999999 # Commanded vehicle depth:2026.051679 # Seafloor depth:-2091.666968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.43; 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 = 275.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2088.913315 meters looking forward 200.000000 meters along route # Maximum depth: 2091.954579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2023.913315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954324; longitude = -129.082488; captureRadius = 10; duration = 136; initialDepth = 2020.677191; finalDepth = 2023.913315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0412640000004 # Actual altitude: 68.0412640000004 # Commanded vehicle depth:2023.913315 # Seafloor depth:-2091.954579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.17; 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 = 272.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2085.677191 meters looking forward 200.000000 meters along route # Maximum depth: 2091.938435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.677191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953425; longitude = -129.083007; captureRadius = 10; duration = 136; initialDepth = 2020.677191; finalDepth = 2020.677191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0412640000004 # Actual altitude: 68.0412640000004 # Commanded vehicle depth:2020.677191 # Seafloor depth:-2088.147396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.17; 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 = 272.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2085.677191 meters looking forward 200.000000 meters along route # Maximum depth: 2102.962600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.677191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952525; longitude = -129.083527; captureRadius = 10; duration = 136; initialDepth = 2029.284380; finalDepth = 2020.677191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2352599999999 # Actual altitude: 70.2352599999999 # Commanded vehicle depth:2020.677191 # Seafloor depth:-2090.912451 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.94; 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 = 280.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2094.284380 meters looking forward 200.000000 meters along route # Maximum depth: 2110.658680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.284380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951626; longitude = -129.084046; captureRadius = 10; duration = 136; initialDepth = 2039.972393; finalDepth = 2029.284380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3859520000001 # Actual altitude: 74.3859520000001 # Commanded vehicle depth:2029.28438 # Seafloor depth:-2103.670332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2104.972393 meters looking forward 200.000000 meters along route # Maximum depth: 2115.703035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2039.972393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950727; longitude = -129.084565; captureRadius = 10; duration = 136; initialDepth = 2046.195635; finalDepth = 2039.972393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3859520000001 # Actual altitude: 74.3859520000001 # Commanded vehicle depth:2039.972393 # Seafloor depth:-2110.898040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2111.195635 meters looking forward 200.000000 meters along route # Maximum depth: 2117.478488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.195635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949858; longitude = -129.085066; captureRadius = 10; duration = 136; initialDepth = 2051.413765; finalDepth = 2046.195635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.925647 # Actual altitude: 70.925647 # Commanded vehicle depth:2046.195635 # Seafloor depth:-2116.002321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.70; 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 = 283.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2116.413765 meters looking forward 200.000000 meters along route # Maximum depth: 2121.114771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.413765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.085551; captureRadius = 10; duration = 136; initialDepth = 2052.317682; finalDepth = 2051.413765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8066859999999 # Actual altitude: 69.8066859999999 # Commanded vehicle depth:2051.413765 # Seafloor depth:-2117.395827 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.23; 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 = 279.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2117.317682 meters looking forward 200.000000 meters along route # Maximum depth: 2129.971298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2052.317682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.086071; captureRadius = 10; duration = 136; initialDepth = 2059.086407; finalDepth = 2052.317682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7605530000001 # Actual altitude: 69.7605530000001 # Commanded vehicle depth:2052.317682 # Seafloor depth:-2122.078235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.04; 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 = 279.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2124.086407 meters looking forward 200.000000 meters along route # Maximum depth: 2134.008425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2059.086407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.086590; captureRadius = 10; duration = 136; initialDepth = 2066.522328; finalDepth = 2059.086407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6245900000004 # Actual altitude: 71.6245900000004 # Commanded vehicle depth:2059.086407 # Seafloor depth:-2130.710997 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.50; 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 = 286.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2131.522328 meters looking forward 200.000000 meters along route # Maximum depth: 2146.029552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.522328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946320; longitude = -129.087109; captureRadius = 10; duration = 136; initialDepth = 2069.576142; finalDepth = 2066.522328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6245900000004 # Actual altitude: 71.6245900000004 # Commanded vehicle depth:2066.522328 # Seafloor depth:-2134.112431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.50; 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 = 286.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2134.576142 meters looking forward 200.000000 meters along route # Maximum depth: 2162.327885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.576142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945453; longitude = -129.087609; captureRadius = 10; duration = 136; initialDepth = 2084.518863; finalDepth = 2069.576142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6241009999999 # Actual altitude: 77.6241009999999 # Commanded vehicle depth:2069.576142 # Seafloor depth:-2147.200243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.50; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 310.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2149.518863 meters looking forward 200.000000 meters along route # Maximum depth: 2169.909180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.518863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944611; longitude = -129.088095; captureRadius = 10; duration = 136; initialDepth = 2097.768155; finalDepth = 2084.518863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.61463 # Actual altitude: 79.61463 # Commanded vehicle depth:2084.518863 # Seafloor depth:-2164.133493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.46; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 318.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2162.768155 meters looking forward 200.000000 meters along route # Maximum depth: 2169.909180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.768155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943711; longitude = -129.088614; captureRadius = 10; duration = 136; initialDepth = 2095.964717; finalDepth = 2097.768155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.61463 # Actual altitude: 79.61463 # Commanded vehicle depth:2097.768155 # Seafloor depth:-2169.758941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.46; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 318.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2160.964717 meters looking forward 200.000000 meters along route # Maximum depth: 2169.130581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.964717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942812; longitude = -129.089134; captureRadius = 10; duration = 136; initialDepth = 2095.964717; finalDepth = 2095.964717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9907859999998 # Actual altitude: 71.9907859999998 # Commanded vehicle depth:2095.964717 # Seafloor depth:-2161.965668 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.96; 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 = 287.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2160.964717 meters looking forward 200.000000 meters along route # Maximum depth: 2165.726107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.964717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941912; longitude = -129.089653; captureRadius = 10; duration = 136; initialDepth = 2089.419460; finalDepth = 2095.964717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2488230000004 # Actual altitude: 67.2488230000004 # Commanded vehicle depth:2095.964717 # Seafloor depth:-2163.213540 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.00; 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 = 269.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2154.419460 meters looking forward 200.000000 meters along route # Maximum depth: 2165.726107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.419460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941048; longitude = -129.090152; captureRadius = 10; duration = 136; initialDepth = 2088.617709; finalDepth = 2089.419460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4287159999999 # Actual altitude: 74.4287159999999 # Commanded vehicle depth:2089.41946 # Seafloor depth:-2163.848176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 297.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2153.617709 meters looking forward 200.000000 meters along route # Maximum depth: 2162.413142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.617709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940204; longitude = -129.090639; captureRadius = 10; duration = 136; initialDepth = 2078.570572; finalDepth = 2088.617709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4287159999999 # Actual altitude: 74.4287159999999 # Commanded vehicle depth:2088.617709 # Seafloor depth:-2153.942397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 297.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2143.570572 meters looking forward 200.000000 meters along route # Maximum depth: 2155.817545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.570572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939304; longitude = -129.091158; captureRadius = 10; duration = 136; initialDepth = 2078.570572; finalDepth = 2078.570572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5913009999999 # Actual altitude: 75.5913009999999 # Commanded vehicle depth:2078.570572 # Seafloor depth:-2154.161873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 302.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2143.570572 meters looking forward 200.000000 meters along route # Maximum depth: 2150.730176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.570572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938405; longitude = -129.091678; captureRadius = 10; duration = 136; initialDepth = 2070.920331; finalDepth = 2078.570572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5913009999999 # Actual altitude: 75.5913009999999 # Commanded vehicle depth:2078.570572 # Seafloor depth:-2144.068567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 302.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2135.920331 meters looking forward 200.000000 meters along route # Maximum depth: 2147.763902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.920331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937505; longitude = -129.092197; captureRadius = 10; duration = 136; initialDepth = 2061.168433; finalDepth = 2070.920331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.816969 # Actual altitude: 73.816969 # Commanded vehicle depth:2070.920331 # Seafloor depth:-2144.737300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.27; 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 = 295.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2126.168433 meters looking forward 200.000000 meters along route # Maximum depth: 2142.867637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2061.168433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936606; longitude = -129.092716; captureRadius = 10; duration = 136; initialDepth = 2053.540587; finalDepth = 2061.168433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4214850000003 # Actual altitude: 74.4214850000003 # Commanded vehicle depth:2061.168433 # Seafloor depth:-2135.589918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2118.540587 meters looking forward 200.000000 meters along route # Maximum depth: 2133.883904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.540587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935707; longitude = -129.093235; captureRadius = 10; duration = 136; initialDepth = 2048.669492; finalDepth = 2053.540587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4214850000003 # Actual altitude: 74.4214850000003 # Commanded vehicle depth:2053.540587 # Seafloor depth:-2126.074998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 136.168175 meters # Minimum depth: 2113.669492 meters looking forward 200.000000 meters along route # Maximum depth: 2124.049951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.669492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934788; longitude = -129.093766; captureRadius = 10; duration = 136; initialDepth = 2048.234192; finalDepth = 2048.669492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5344110000001 # Actual altitude: 72.5344110000001 # Commanded vehicle depth:2048.669492 # Seafloor depth:-2118.373221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.14; 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 = 290.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 136.168175 meters # Minimum depth: 2113.234192 meters looking forward 200.000000 meters along route # Maximum depth: 2124.934575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.234192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933938; longitude = -129.094256; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2048.234192; finalDepth = 2048.234192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7037289999998 # Actual altitude: 69.7037289999998 # Commanded vehicle depth:2048.234192 # Seafloor depth:-2113.234192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.81; 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 = 278.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 136.168175 meters # Minimum depth: 2113.234192 meters looking forward 200.000000 meters along route # Maximum depth: 2126.322815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.234192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933518; longitude = -129.095149; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2053.645999; finalDepth = 2048.234192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0886230000001 # Actual altitude: 78.0886230000001 # Commanded vehicle depth:2048.234192 # Seafloor depth:-2126.322815 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 136.168175 meters # Minimum depth: 2118.645999 meters looking forward 200.000000 meters along route # Maximum depth: 2126.322815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.645999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932619; longitude = -129.095015; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2054.130785; finalDepth = 2053.645999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0886230000001 # Actual altitude: 78.0886230000001 # Commanded vehicle depth:2053.645999 # Seafloor depth:-2118.919128 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.168175 meters # Minimum depth: 2119.130785 meters looking forward 200.000000 meters along route # Maximum depth: 2126.469218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.130785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931839; longitude = -129.095464; captureRadius = 10; duration = 136; initialDepth = 2057.707097; finalDepth = 2054.130785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0243010000004 # Actual altitude: 68.0243010000004 # Commanded vehicle depth:2054.130785 # Seafloor depth:-2122.155086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.10; 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 = 272.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.168175 meters # Minimum depth: 2122.707097 meters looking forward 200.000000 meters along route # Maximum depth: 2131.393406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2057.707097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930940; longitude = -129.095982; captureRadius = 10; duration = 136; initialDepth = 2062.627319; finalDepth = 2057.707097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.134192 # Actual altitude: 69.134192 # Commanded vehicle depth:2057.707097 # Seafloor depth:-2126.841289 # behavior reson { duration = 6; 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 20 # Segment length 136.168175 meters # Minimum depth: 2127.627319 meters looking forward 200.000000 meters along route # Maximum depth: 2140.923726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.627319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930040; longitude = -129.096500; captureRadius = 10; duration = 136; initialDepth = 2068.329243; finalDepth = 2062.627319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6335569999997 # Actual altitude: 69.6335569999997 # Commanded vehicle depth:2062.627319 # Seafloor depth:-2132.260876 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.53; 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 = 278.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.168175 meters # Minimum depth: 2133.329243 meters looking forward 200.000000 meters along route # Maximum depth: 2149.518402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.329243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929141; longitude = -129.097019; captureRadius = 10; duration = 136; initialDepth = 2078.483053; finalDepth = 2068.329243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6892789999997 # Actual altitude: 73.6892789999997 # Commanded vehicle depth:2068.329243 # Seafloor depth:-2142.018522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.74; MB_Bottom_Detect_Filter_Max_Range = 294.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.168175 meters # Minimum depth: 2143.483053 meters looking forward 200.000000 meters along route # Maximum depth: 2159.919804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.483053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928242; longitude = -129.097537; captureRadius = 10; duration = 136; initialDepth = 2086.130008; finalDepth = 2078.483053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6892789999997 # Actual altitude: 73.6892789999997 # Commanded vehicle depth:2078.483053 # Seafloor depth:-2149.928164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.74; MB_Bottom_Detect_Filter_Max_Range = 294.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.168175 meters # Minimum depth: 2151.130008 meters looking forward 200.000000 meters along route # Maximum depth: 2169.538943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.130008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927342; longitude = -129.098055; captureRadius = 10; duration = 136; initialDepth = 2097.001054; finalDepth = 2086.130008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.886516 # Actual altitude: 73.886516 # Commanded vehicle depth:2086.130008 # Seafloor depth:-2160.016524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.55; 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 = 295.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 136.168175 meters # Minimum depth: 2162.001054 meters looking forward 200.000000 meters along route # Maximum depth: 2174.115167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.001054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926424; longitude = -129.098584; captureRadius = 10; duration = 136; initialDepth = 2103.138569; finalDepth = 2097.001054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.886516 # Actual altitude: 73.886516 # Commanded vehicle depth:2097.001054 # Seafloor depth:-2169.702948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.55; 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 = 295.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.55; 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 136.168175 meters # Minimum depth: 2168.138569 meters looking forward 200.000000 meters along route # Maximum depth: 2191.825170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.138569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925573; longitude = -129.099074; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2108.441857; finalDepth = 2103.138569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7018940000003 # Actual altitude: 72.7018940000003 # Commanded vehicle depth:2103.138569 # Seafloor depth:-2173.936768 # behavior reson { duration = 6; 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 19 # Segment length 136.168175 meters # Minimum depth: 2173.441857 meters looking forward 200.000000 meters along route # Maximum depth: 2219.951273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.441857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925787; longitude = -129.099922; captureRadius = 10; duration = 136; initialDepth = 2121.392301; finalDepth = 2108.441857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 85.9690500000002 # Actual altitude: 85.9690500000002 # Commanded vehicle depth:2108.441857 # Seafloor depth:-2194.410907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.19; MB_Bottom_Detect_Filter_Max_Range = 343.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 136.168175 meters # Minimum depth: 2186.392301 meters looking forward 200.000000 meters along route # Maximum depth: 2221.007099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.392301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926113; longitude = -129.101216; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2139.628651; finalDepth = 2121.392301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.5599700000002 # Actual altitude: 99.5599700000002 # Commanded vehicle depth:2121.392301 # Seafloor depth:-2220.952271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2215.070485 meters looking forward 200.000000 meters along route # Maximum depth: 2224.741807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2139.628651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926623; longitude = -129.100921; captureRadius = 10; duration = 136; initialDepth = 2157.010822; finalDepth = 2139.628651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.5599700000002 # Actual altitude: 99.5599700000002 # Commanded vehicle depth:2139.6286512 # Seafloor depth:-2221.133135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2222.010822 meters looking forward 200.000000 meters along route # Maximum depth: 2226.695202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2157.010822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927522; longitude = -129.100399; captureRadius = 10; duration = 136; initialDepth = 2159.570794; finalDepth = 2157.010822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5044837999994 # Actual altitude: 81.5044837999994 # Commanded vehicle depth:2157.010822 # Seafloor depth:-2224.726693 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.02; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 326.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2224.570794 meters looking forward 200.000000 meters along route # Maximum depth: 2226.695202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2159.570794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928421; longitude = -129.099878; captureRadius = 10; duration = 136; initialDepth = 2159.894713; finalDepth = 2159.570794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7158709999999 # Actual altitude: 67.7158709999999 # Commanded vehicle depth:2159.570794 # Seafloor depth:-2226.439627 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.86; 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 = 270.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2224.894713 meters looking forward 200.000000 meters along route # Maximum depth: 2228.481092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2159.894713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929269; longitude = -129.099387; captureRadius = 10; duration = 136; initialDepth = 2160.072604; finalDepth = 2159.894713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.868833 # Actual altitude: 66.868833 # Commanded vehicle depth:2159.894713 # Seafloor depth:-2225.706510 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.48; 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 = 267.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2225.072604 meters looking forward 200.000000 meters along route # Maximum depth: 2228.481092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2160.072604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930130; longitude = -129.098888; captureRadius = 10; duration = 136; initialDepth = 2155.053289; finalDepth = 2160.072604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.749335 # Actual altitude: 67.749335 # Commanded vehicle depth:2160.072604 # Seafloor depth:-2227.821939 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.00; 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 = 271.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2220.053289 meters looking forward 200.000000 meters along route # Maximum depth: 2226.631792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2155.053289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931030; longitude = -129.098366; captureRadius = 10; duration = 136; initialDepth = 2137.560187; finalDepth = 2155.053289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0961430000002 # Actual altitude: 70.0961430000002 # Commanded vehicle depth:2155.053289 # Seafloor depth:-2225.149432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.38; 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 = 280.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2202.560187 meters looking forward 200.000000 meters along route # Maximum depth: 2224.053988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2137.560187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931929; longitude = -129.097845; captureRadius = 10; duration = 136; initialDepth = 2124.115737; finalDepth = 2137.560187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4999170000001 # Actual altitude: 81.4999170000001 # Commanded vehicle depth:2137.560187 # Seafloor depth:-2219.060104 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 326.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2189.115737 meters looking forward 200.000000 meters along route # Maximum depth: 2215.945778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.115737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932829; longitude = -129.097324; captureRadius = 10; duration = 136; initialDepth = 2117.233214; finalDepth = 2124.115737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4999170000001 # Actual altitude: 81.4999170000001 # Commanded vehicle depth:2124.115737 # Seafloor depth:-2200.907592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 326.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2182.233214 meters looking forward 200.000000 meters along route # Maximum depth: 2199.614832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.233214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933728; longitude = -129.096802; captureRadius = 10; duration = 136; initialDepth = 2111.582967; finalDepth = 2117.233214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7918549999999 # Actual altitude: 76.7918549999999 # Commanded vehicle depth:2117.233214 # Seafloor depth:-2188.574556 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 307.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2176.582967 meters looking forward 200.000000 meters along route # Maximum depth: 2188.253899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.582967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934580; longitude = -129.096308; captureRadius = 10; duration = 136; initialDepth = 2102.565641; finalDepth = 2111.582967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3413420000002 # Actual altitude: 71.3413420000002 # Commanded vehicle depth:2111.582967 # Seafloor depth:-2182.083248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.37; 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 = 285.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2167.565641 meters looking forward 200.000000 meters along route # Maximum depth: 2182.003566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.565641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935437; longitude = -129.095812; captureRadius = 10; duration = 136; initialDepth = 2092.457472; finalDepth = 2102.565641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0271640000001 # Actual altitude: 73.0271640000001 # Commanded vehicle depth:2102.565641 # Seafloor depth:-2175.592805 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.11; 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 = 292.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2157.457472 meters looking forward 200.000000 meters along route # Maximum depth: 2173.800745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.457472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936336; longitude = -129.095291; captureRadius = 10; duration = 136; initialDepth = 2086.407044; finalDepth = 2092.457472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1148069999999 # Actual altitude: 74.1148069999999 # Commanded vehicle depth:2092.457472 # Seafloor depth:-2166.572279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.46; 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 = 296.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2151.407044 meters looking forward 200.000000 meters along route # Maximum depth: 2164.478445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.407044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937236; longitude = -129.094769; captureRadius = 10; duration = 136; initialDepth = 2082.420633; finalDepth = 2086.407044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1148069999999 # Actual altitude: 74.1148069999999 # Commanded vehicle depth:2086.407044 # Seafloor depth:-2157.232640 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.46; 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 = 296.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2147.420633 meters looking forward 200.000000 meters along route # Maximum depth: 2156.817178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.420633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938135; longitude = -129.094248; captureRadius = 10; duration = 136; initialDepth = 2082.391719; finalDepth = 2082.420633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8255960000001 # Actual altitude: 70.8255960000001 # Commanded vehicle depth:2082.420633 # Seafloor depth:-2150.554560 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.30; 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 = 283.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2147.391719 meters looking forward 200.000000 meters along route # Maximum depth: 2152.023750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.391719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939034; longitude = -129.093727; captureRadius = 10; duration = 136; initialDepth = 2082.464521; finalDepth = 2082.391719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1339269999999 # Actual altitude: 68.1339269999999 # Commanded vehicle depth:2082.391719 # Seafloor depth:-2147.391719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.54; 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 = 272.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2147.464521 meters looking forward 200.000000 meters along route # Maximum depth: 2152.233968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.464521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939891; longitude = -129.093230; captureRadius = 10; duration = 136; initialDepth = 2083.342963; finalDepth = 2082.464521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6546699999999 # Actual altitude: 69.6546699999999 # Commanded vehicle depth:2082.464521 # Seafloor depth:-2152.119191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.62; 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 = 278.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2148.342963 meters looking forward 200.000000 meters along route # Maximum depth: 2152.233968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.342963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940743; longitude = -129.092736; captureRadius = 10; duration = 136; initialDepth = 2081.181398; finalDepth = 2083.342963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6546699999999 # Actual altitude: 69.6546699999999 # Commanded vehicle depth:2083.342963 # Seafloor depth:-2148.931370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.62; 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 = 278.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2146.181398 meters looking forward 200.000000 meters along route # Maximum depth: 2150.080444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.181398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941643; longitude = -129.092215; captureRadius = 10; duration = 136; initialDepth = 2073.194619; finalDepth = 2081.181398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.817337 # Actual altitude: 68.817337 # Commanded vehicle depth:2081.181398 # Seafloor depth:-2149.998735 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.27; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.76; MB_Bottom_Detect_Filter_Max_Range = 275.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2138.194619 meters looking forward 200.000000 meters along route # Maximum depth: 2150.080444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.194619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942542; longitude = -129.091694; captureRadius = 10; duration = 136; initialDepth = 2071.762343; finalDepth = 2073.194619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8678789999999 # Actual altitude: 71.8678789999999 # Commanded vehicle depth:2073.194619 # Seafloor depth:-2145.062498 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.47; 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 = 287.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2136.762343 meters looking forward 200.000000 meters along route # Maximum depth: 2142.836460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2071.762343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943441; longitude = -129.091173; captureRadius = 10; duration = 136; initialDepth = 2061.786980; finalDepth = 2071.762343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8678789999999 # Actual altitude: 71.8678789999999 # Commanded vehicle depth:2071.762343 # Seafloor depth:-2138.178829 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.47; 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 = 287.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2126.786980 meters looking forward 200.000000 meters along route # Maximum depth: 2140.135735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2061.786980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944341; longitude = -129.090651; captureRadius = 10; duration = 136; initialDepth = 2050.872111; finalDepth = 2061.786980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1848450000002 # Actual altitude: 74.1848450000002 # Commanded vehicle depth:2061.78698 # Seafloor depth:-2135.971825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.84; MB_Bottom_Detect_Filter_Max_Range = 296.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2115.872111 meters looking forward 200.000000 meters along route # Maximum depth: 2134.884681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.872111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945202; longitude = -129.090152; captureRadius = 10; duration = 136; initialDepth = 2045.844403; finalDepth = 2050.872111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1856439999997 # Actual altitude: 75.1856439999997 # Commanded vehicle depth:2050.872111 # Seafloor depth:-2126.057755 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 300.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2110.844403 meters looking forward 200.000000 meters along route # Maximum depth: 2124.358156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.844403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946050; longitude = -129.089661; captureRadius = 10; duration = 136; initialDepth = 2044.604379; finalDepth = 2045.844403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1856439999997 # Actual altitude: 75.1856439999997 # Commanded vehicle depth:2045.844403 # Seafloor depth:-2114.749468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 300.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2109.604379 meters looking forward 200.000000 meters along route # Maximum depth: 2112.553949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.604379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946949; longitude = -129.089140; captureRadius = 10; duration = 136; initialDepth = 2042.342391; finalDepth = 2044.604379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9050649999999 # Actual altitude: 68.9050649999999 # Commanded vehicle depth:2044.604379 # Seafloor depth:-2110.657511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.62; 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 = 275.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2107.342391 meters looking forward 200.000000 meters along route # Maximum depth: 2110.366892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.342391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947849; longitude = -129.088618; captureRadius = 10; duration = 136; initialDepth = 2042.333302; finalDepth = 2042.342391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0046480000001 # Actual altitude: 67.0046480000001 # Commanded vehicle depth:2042.342391 # Seafloor depth:-2109.347039 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.02; 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 = 268.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2107.333302 meters looking forward 200.000000 meters along route # Maximum depth: 2114.161772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.333302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948748; longitude = -129.088097; captureRadius = 10; duration = 136; initialDepth = 2042.435679; finalDepth = 2042.333302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0046480000001 # Actual altitude: 67.0046480000001 # Commanded vehicle depth:2042.333302 # Seafloor depth:-2107.333302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.02; 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 = 268.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2107.435679 meters looking forward 200.000000 meters along route # Maximum depth: 2115.234096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.435679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949647; longitude = -129.087576; captureRadius = 10; duration = 136; initialDepth = 2048.787592; finalDepth = 2042.435679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1249459999999 # Actual altitude: 72.1249459999999 # Commanded vehicle depth:2042.435679 # Seafloor depth:-2114.560625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.50; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.42; MB_Bottom_Detect_Filter_Max_Range = 288.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2113.787592 meters looking forward 200.000000 meters along route # Maximum depth: 2115.234096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.787592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950513; longitude = -129.087074; captureRadius = 10; duration = 136; initialDepth = 2042.528052; finalDepth = 2048.787592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1249459999999 # Actual altitude: 72.1249459999999 # Commanded vehicle depth:2048.787592 # Seafloor depth:-2114.938576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.50; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.42; MB_Bottom_Detect_Filter_Max_Range = 288.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2107.528052 meters looking forward 200.000000 meters along route # Maximum depth: 2114.993255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.528052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951356; longitude = -129.086585; captureRadius = 10; duration = 136; initialDepth = 2037.020965; finalDepth = 2042.528052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0011179999997 # Actual altitude: 71.0011179999997 # Commanded vehicle depth:2042.528052 # Seafloor depth:-2113.529170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.00; 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 = 284.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2102.020965 meters looking forward 200.000000 meters along route # Maximum depth: 2112.527768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2037.020965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952256; longitude = -129.086064; captureRadius = 10; duration = 136; initialDepth = 2036.285442; finalDepth = 2037.020965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0011179999997 # Actual altitude: 71.0011179999997 # Commanded vehicle depth:2037.020965 # Seafloor depth:-2107.013501 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.00; 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 = 284.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2101.285442 meters looking forward 200.000000 meters along route # Maximum depth: 2105.987598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2036.285442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953155; longitude = -129.085543; captureRadius = 10; duration = 136; initialDepth = 2030.969609; finalDepth = 2036.285442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9925359999997 # Actual altitude: 69.9925359999997 # Commanded vehicle depth:2036.285442 # Seafloor depth:-2101.726874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.97; 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 = 279.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2095.969609 meters looking forward 200.000000 meters along route # Maximum depth: 2101.517437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.969609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954054; longitude = -129.085021; captureRadius = 10; duration = 136; initialDepth = 2030.366616; finalDepth = 2030.969609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2764779999998 # Actual altitude: 70.2764779999998 # Commanded vehicle depth:2030.969609 # Seafloor depth:-2101.246087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.11; 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 = 281.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2095.366616 meters looking forward 200.000000 meters along route # Maximum depth: 2100.625263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.366616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954954; longitude = -129.084500; captureRadius = 10; duration = 136; initialDepth = 2030.366616; finalDepth = 2030.366616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2764779999998 # Actual altitude: 70.2764779999998 # Commanded vehicle depth:2030.366616 # Seafloor depth:-2095.798992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.11; 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 = 281.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2095.366616 meters looking forward 200.000000 meters along route # Maximum depth: 2099.231909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.366616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955824; longitude = -129.083996; captureRadius = 10; duration = 136; initialDepth = 2032.182820; finalDepth = 2030.366616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3156980000003 # Actual altitude: 66.3156980000003 # Commanded vehicle depth:2030.366616 # Seafloor depth:-2096.682314 # behavior reson { duration = 6; 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 18 # Segment length 136.168175 meters # Minimum depth: 2097.182820 meters looking forward 200.000000 meters along route # Maximum depth: 2099.338820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.182820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956663; longitude = -129.083510; captureRadius = 10; duration = 136; initialDepth = 2034.057061; finalDepth = 2032.182820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1341550000002 # Actual altitude: 67.1341550000002 # Commanded vehicle depth:2032.18282 # Seafloor depth:-2099.316975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.54; 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 = 268.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2099.057061 meters looking forward 200.000000 meters along route # Maximum depth: 2099.900988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.057061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957562; longitude = -129.082988; captureRadius = 10; duration = 136; initialDepth = 2034.153164; finalDepth = 2034.057061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1341550000002 # Actual altitude: 67.1341550000002 # Commanded vehicle depth:2034.057061 # Seafloor depth:-2099.197226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.54; 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 = 268.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2099.153164 meters looking forward 200.000000 meters along route # Maximum depth: 2100.857630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.153164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958462; longitude = -129.082467; captureRadius = 10; duration = 136; initialDepth = 2031.828923; finalDepth = 2034.153164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0129300000003 # Actual altitude: 66.0129300000003 # Commanded vehicle depth:2034.153164 # Seafloor depth:-2100.166094 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.05; 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 = 264.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2096.828923 meters looking forward 200.000000 meters along route # Maximum depth: 2100.857630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.828923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959361; longitude = -129.081946; captureRadius = 10; duration = 136; initialDepth = 2031.514847; finalDepth = 2031.828923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8302600000002 # Actual altitude: 66.8302600000002 # Commanded vehicle depth:2031.828923 # Seafloor depth:-2098.659183 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.32; 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 = 267.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2096.514847 meters looking forward 200.000000 meters along route # Maximum depth: 2098.112141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.514847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960212; longitude = -129.081453; captureRadius = 10; duration = 136; initialDepth = 2031.514847; finalDepth = 2031.514847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8302600000002 # Actual altitude: 66.8302600000002 # Commanded vehicle depth:2031.514847 # Seafloor depth:-2096.824023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.32; 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 = 267.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2096.514847 meters looking forward 200.000000 meters along route # Maximum depth: 2097.552941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.514847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961070; longitude = -129.080955; captureRadius = 10; duration = 136; initialDepth = 2032.094314; finalDepth = 2031.514847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3091760000002 # Actual altitude: 65.3091760000002 # Commanded vehicle depth:2031.514847 # Seafloor depth:-2096.601158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.24; 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 = 261.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2097.094314 meters looking forward 200.000000 meters along route # Maximum depth: 2102.216397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.094314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961969; longitude = -129.080434; captureRadius = 10; duration = 136; initialDepth = 2033.550212; finalDepth = 2032.094314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7347030000001 # Actual altitude: 65.7347030000001 # Commanded vehicle depth:2032.094314 # Seafloor depth:-2097.829017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.94; 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 = 262.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2098.550212 meters looking forward 200.000000 meters along route # Maximum depth: 2106.577075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2033.550212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962869; longitude = -129.079913; captureRadius = 10; duration = 136; initialDepth = 2038.640948; finalDepth = 2033.550212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1686159999999 # Actual altitude: 69.1686159999999 # Commanded vehicle depth:2033.550212 # Seafloor depth:-2102.718828 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.67; 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 = 276.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2103.640948 meters looking forward 200.000000 meters along route # Maximum depth: 2107.181294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.640948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963768; longitude = -129.079391; captureRadius = 10; duration = 136; initialDepth = 2038.639654; finalDepth = 2038.640948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1686159999999 # Actual altitude: 69.1686159999999 # Commanded vehicle depth:2038.640948 # Seafloor depth:-2106.856441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.67; 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 = 276.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2103.639654 meters looking forward 200.000000 meters along route # Maximum depth: 2107.181294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.639654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964667; longitude = -129.078870; captureRadius = 10; duration = 136; initialDepth = 2032.625624; finalDepth = 2038.639654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2154929999997 # Actual altitude: 68.2154929999997 # Commanded vehicle depth:2038.639654 # Seafloor depth:-2105.144784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.86; 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 = 272.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2097.625624 meters looking forward 200.000000 meters along route # Maximum depth: 2105.045771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.625624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965523; longitude = -129.078374; captureRadius = 10; duration = 136; initialDepth = 2026.251764; finalDepth = 2032.625624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8597840000002 # Actual altitude: 70.8597840000002 # Commanded vehicle depth:2032.625624 # Seafloor depth:-2103.485408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.44; 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 = 283.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 136.168175 meters # Minimum depth: 2091.251764 meters looking forward 200.000000 meters along route # Maximum depth: 2103.316557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.251764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966376; longitude = -129.077880; captureRadius = 10; duration = 136; initialDepth = 2026.055664; finalDepth = 2026.251764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8597840000002 # Actual altitude: 70.8597840000002 # Commanded vehicle depth:2026.251764 # Seafloor depth:-2097.069972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.44; 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 = 283.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.44; 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 136.168175 meters # Minimum depth: 2091.055664 meters looking forward 200.000000 meters along route # Maximum depth: 2098.073509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.055664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967216; longitude = -129.077393; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2026.055664; finalDepth = 2026.055664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8182079999997 # Actual altitude: 70.8182079999997 # Commanded vehicle depth:2026.055664 # Seafloor depth:-2091.055664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.27; 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 = 283.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.168175 meters # Minimum depth: 2091.055664 meters looking forward 200.000000 meters along route # Maximum depth: 2099.268089 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.055664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967465; longitude = -129.078241; captureRadius = 10; duration = 136; initialDepth = 2032.451355; finalDepth = 2026.055664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 72.5241110000002 # Actual altitude: 72.5241110000002 # Commanded vehicle depth:2026.055664 # Seafloor depth:-2098.579775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.10; 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 = 290.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 136.168175 meters # Minimum depth: 2097.451355 meters looking forward 200.000000 meters along route # Maximum depth: 2099.982672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.451355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967845; longitude = -129.079534; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2032.451355; finalDepth = 2032.451355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5241110000002 # Actual altitude: 72.5241110000002 # Commanded vehicle depth:2032.451355 # Seafloor depth:-2097.451355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.10; 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 = 290.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2097.451355 meters looking forward 200.000000 meters along route # Maximum depth: 2103.316654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.451355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.079915; captureRadius = 10; duration = 136; initialDepth = 2035.848420; finalDepth = 2032.451355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8861349999997 # Actual altitude: 67.8861349999997 # Commanded vehicle depth:2032.451355 # Seafloor depth:-2100.337490 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.54; 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 = 271.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2100.848420 meters looking forward 200.000000 meters along route # Maximum depth: 2105.995511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2035.848420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.080434; captureRadius = 10; duration = 136; initialDepth = 2038.924260; finalDepth = 2035.848420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8861349999997 # Actual altitude: 67.8861349999997 # Commanded vehicle depth:2035.84842 # Seafloor depth:-2103.619093 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.54; 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 = 271.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2103.924260 meters looking forward 200.000000 meters along route # Maximum depth: 2111.188032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.924260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.080954; captureRadius = 10; duration = 136; initialDepth = 2041.684263; finalDepth = 2038.924260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.770673 # Actual altitude: 67.770673 # Commanded vehicle depth:2038.92426 # Seafloor depth:-2106.287703 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.08; 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 = 271.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2106.684263 meters looking forward 200.000000 meters along route # Maximum depth: 2113.800952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.684263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964524; longitude = -129.081453; captureRadius = 10; duration = 136; initialDepth = 2046.771184; finalDepth = 2041.684263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.697803 # Actual altitude: 69.697803 # Commanded vehicle depth:2041.684263 # Seafloor depth:-2111.382066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.79; 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 = 278.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2111.771184 meters looking forward 200.000000 meters along route # Maximum depth: 2115.875427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.771184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963678; longitude = -129.081941; captureRadius = 10; duration = 136; initialDepth = 2049.548402; finalDepth = 2046.771184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.697803 # Actual altitude: 69.697803 # Commanded vehicle depth:2046.771184 # Seafloor depth:-2114.055381 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.79; 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 = 278.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2114.548402 meters looking forward 200.000000 meters along route # Maximum depth: 2118.902667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.548402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.082461; captureRadius = 10; duration = 136; initialDepth = 2051.833198; finalDepth = 2049.548402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2841969999999 # Actual altitude: 67.2841969999999 # Commanded vehicle depth:2049.548402 # Seafloor depth:-2116.112891 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.14; 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 = 269.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2116.833198 meters looking forward 200.000000 meters along route # Maximum depth: 2118.929725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.833198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.082980; captureRadius = 10; duration = 136; initialDepth = 2051.552595; finalDepth = 2051.833198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0965270000002 # Actual altitude: 67.0965270000002 # Commanded vehicle depth:2051.833198 # Seafloor depth:-2118.929725 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.39; 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 = 268.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2116.552595 meters looking forward 200.000000 meters along route # Maximum depth: 2118.918389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.552595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960980; longitude = -129.083500; captureRadius = 10; duration = 136; initialDepth = 2051.552595; finalDepth = 2051.552595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0965270000002 # Actual altitude: 67.0965270000002 # Commanded vehicle depth:2051.552595 # Seafloor depth:-2117.766581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.39; 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 = 268.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2116.552595 meters looking forward 200.000000 meters along route # Maximum depth: 2117.506381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.552595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960122; longitude = -129.083996; captureRadius = 10; duration = 136; initialDepth = 2051.684579; finalDepth = 2051.552595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2139859999997 # Actual altitude: 66.2139859999997 # Commanded vehicle depth:2051.552595 # Seafloor depth:-2116.596375 # behavior reson { duration = 6; 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 16 # Segment length 136.168175 meters # Minimum depth: 2116.684579 meters looking forward 200.000000 meters along route # Maximum depth: 2117.899362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.684579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.084487; captureRadius = 10; duration = 136; initialDepth = 2041.328591; finalDepth = 2051.684579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.785582 # Actual altitude: 65.785582 # Commanded vehicle depth:2051.684579 # Seafloor depth:-2117.470161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.14; 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 = 263.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2106.328591 meters looking forward 200.000000 meters along route # Maximum depth: 2117.899362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.328591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958372; longitude = -129.085006; captureRadius = 10; duration = 136; initialDepth = 2034.065437; finalDepth = 2041.328591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2623939999999 # Actual altitude: 75.2623939999999 # Commanded vehicle depth:2041.328591 # Seafloor depth:-2116.590985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 301.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2099.065437 meters looking forward 200.000000 meters along route # Maximum depth: 2114.956638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.065437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.085526; captureRadius = 10; duration = 136; initialDepth = 2034.065437; finalDepth = 2034.065437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2623939999999 # Actual altitude: 75.2623939999999 # Commanded vehicle depth:2034.065437 # Seafloor depth:-2104.872196 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 301.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2099.065437 meters looking forward 200.000000 meters along route # Maximum depth: 2104.799756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.065437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.086046; captureRadius = 10; duration = 136; initialDepth = 2034.856021; finalDepth = 2034.065437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8067589999996 # Actual altitude: 70.8067589999996 # Commanded vehicle depth:2034.065437 # Seafloor depth:-2099.507964 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.23; 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 = 283.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2099.856021 meters looking forward 200.000000 meters along route # Maximum depth: 2116.594510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.856021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955720; longitude = -129.086538; captureRadius = 10; duration = 136; initialDepth = 2042.102992; finalDepth = 2034.856021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.46551 # Actual altitude: 70.46551 # Commanded vehicle depth:2034.856021 # Seafloor depth:-2105.321531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.86; 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 = 281.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2107.102992 meters looking forward 200.000000 meters along route # Maximum depth: 2119.350726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.102992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954864; longitude = -129.087033; captureRadius = 10; duration = 136; initialDepth = 2049.503839; finalDepth = 2042.102992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4012990000001 # Actual altitude: 75.4012990000001 # Commanded vehicle depth:2042.102992 # Seafloor depth:-2117.504291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 301.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2114.503839 meters looking forward 200.000000 meters along route # Maximum depth: 2119.350726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.503839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953965; longitude = -129.087552; captureRadius = 10; duration = 136; initialDepth = 2049.503839; finalDepth = 2049.503839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4012990000001 # Actual altitude: 75.4012990000001 # Commanded vehicle depth:2049.503839 # Seafloor depth:-2118.386643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 301.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2114.503839 meters looking forward 200.000000 meters along route # Maximum depth: 2122.434842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.503839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953065; longitude = -129.088072; captureRadius = 10; duration = 136; initialDepth = 2050.575305; finalDepth = 2049.503839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8828039999999 # Actual altitude: 68.8828039999999 # Commanded vehicle depth:2049.503839 # Seafloor depth:-2115.022721 # behavior reson { duration = 6; 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 16 # Segment length 136.168175 meters # Minimum depth: 2115.575305 meters looking forward 200.000000 meters along route # Maximum depth: 2125.145086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.575305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952166; longitude = -129.088591; captureRadius = 10; duration = 136; initialDepth = 2058.672770; finalDepth = 2050.575305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4357850000001 # Actual altitude: 72.4357850000001 # Commanded vehicle depth:2050.575305 # Seafloor depth:-2123.011090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.74; 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 = 289.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2123.672770 meters looking forward 200.000000 meters along route # Maximum depth: 2126.438766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2058.672770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951318; longitude = -129.089081; captureRadius = 10; duration = 136; initialDepth = 2058.026982; finalDepth = 2058.672770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4357850000001 # Actual altitude: 72.4357850000001 # Commanded vehicle depth:2058.67277 # Seafloor depth:-2124.887976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.74; 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 = 289.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2123.026982 meters looking forward 200.000000 meters along route # Maximum depth: 2126.438766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2058.026982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950457; longitude = -129.089579; captureRadius = 10; duration = 136; initialDepth = 2057.952373; finalDepth = 2058.026982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8917780000002 # Actual altitude: 67.8917780000002 # Commanded vehicle depth:2058.026982 # Seafloor depth:-2125.918760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.57; 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 = 271.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2122.952373 meters looking forward 200.000000 meters along route # Maximum depth: 2125.078331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2057.952373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949557; longitude = -129.090098; captureRadius = 10; duration = 136; initialDepth = 2057.988684; finalDepth = 2057.952373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8917780000002 # Actual altitude: 67.8917780000002 # Commanded vehicle depth:2057.952373 # Seafloor depth:-2122.952373 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.57; 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 = 271.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2122.988684 meters looking forward 200.000000 meters along route # Maximum depth: 2127.459277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2057.988684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.090618; captureRadius = 10; duration = 136; initialDepth = 2057.988684; finalDepth = 2057.988684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.1563489999999 # Actual altitude: 65.1563489999999 # Commanded vehicle depth:2057.988684 # Seafloor depth:-2123.145033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 260.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.03; MB_Bottom_Detect_Filter_Max_Range = 260.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2122.988684 meters looking forward 200.000000 meters along route # Maximum depth: 2128.241092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2057.988684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947759; longitude = -129.091137; captureRadius = 10; duration = 136; initialDepth = 2062.840557; finalDepth = 2057.988684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.753494 # Actual altitude: 69.753494 # Commanded vehicle depth:2057.988684 # Seafloor depth:-2127.742178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.01; 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 = 279.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2127.840557 meters looking forward 200.000000 meters along route # Maximum depth: 2133.456843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.840557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946916; longitude = -129.091624; captureRadius = 10; duration = 136; initialDepth = 2063.561071; finalDepth = 2062.840557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.753494 # Actual altitude: 69.753494 # Commanded vehicle depth:2062.840557 # Seafloor depth:-2128.206850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.01; 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 = 279.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2128.561071 meters looking forward 200.000000 meters along route # Maximum depth: 2144.389612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.561071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946050; longitude = -129.092124; captureRadius = 10; duration = 136; initialDepth = 2070.214298; finalDepth = 2063.561071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2970460000001 # Actual altitude: 70.2970460000001 # Commanded vehicle depth:2063.561071 # Seafloor depth:-2133.858117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.19; 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 = 281.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2135.214298 meters looking forward 200.000000 meters along route # Maximum depth: 2153.255233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.214298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945150; longitude = -129.092644; captureRadius = 10; duration = 136; initialDepth = 2081.652125; finalDepth = 2070.214298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8394539999999 # Actual altitude: 74.8394539999999 # Commanded vehicle depth:2070.214298 # Seafloor depth:-2145.053752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.97; MB_Bottom_Detect_Filter_Max_Range = 299.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2146.652125 meters looking forward 200.000000 meters along route # Maximum depth: 2160.567632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.652125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944251; longitude = -129.093164; captureRadius = 10; duration = 136; initialDepth = 2091.084840; finalDepth = 2081.652125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8394539999999 # Actual altitude: 74.8394539999999 # Commanded vehicle depth:2081.652125 # Seafloor depth:-2154.230484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.97; MB_Bottom_Detect_Filter_Max_Range = 299.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2156.084840 meters looking forward 200.000000 meters along route # Maximum depth: 2164.635582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.084840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943352; longitude = -129.093683; captureRadius = 10; duration = 136; initialDepth = 2096.618005; finalDepth = 2091.084840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5783590000001 # Actual altitude: 72.5783590000001 # Commanded vehicle depth:2091.08484 # Seafloor depth:-2161.112222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.31; 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 = 290.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2161.618005 meters looking forward 200.000000 meters along route # Maximum depth: 2169.253289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.618005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942452; longitude = -129.094203; captureRadius = 10; duration = 136; initialDepth = 2100.396177; finalDepth = 2096.618005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0273820000002 # Actual altitude: 70.0273820000002 # Commanded vehicle depth:2096.618005 # Seafloor depth:-2164.982401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.11; 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 = 280.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2165.396177 meters looking forward 200.000000 meters along route # Maximum depth: 2173.368829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.396177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941587; longitude = -129.094702; captureRadius = 10; duration = 136; initialDepth = 2105.502167; finalDepth = 2100.396177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2156439999999 # Actual altitude: 69.2156439999999 # Commanded vehicle depth:2100.396177 # Seafloor depth:-2169.611821 # behavior reson { duration = 6; 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 16 # Segment length 136.168175 meters # Minimum depth: 2170.502167 meters looking forward 200.000000 meters along route # Maximum depth: 2175.275200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.502167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940743; longitude = -129.095190; captureRadius = 10; duration = 136; initialDepth = 2108.154829; finalDepth = 2105.502167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2156439999999 # Actual altitude: 69.2156439999999 # Commanded vehicle depth:2105.502167 # Seafloor depth:-2173.081666 # behavior reson { duration = 6; 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 16 # Segment length 136.168175 meters # Minimum depth: 2173.154829 meters looking forward 200.000000 meters along route # Maximum depth: 2181.013978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.154829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939844; longitude = -129.095709; captureRadius = 10; duration = 136; initialDepth = 2111.415910; finalDepth = 2108.154829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5794989999999 # Actual altitude: 67.5794989999999 # Commanded vehicle depth:2108.154829 # Seafloor depth:-2175.642799 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.32; 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 = 270.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2176.415910 meters looking forward 200.000000 meters along route # Maximum depth: 2184.354917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.415910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938944; longitude = -129.096229; captureRadius = 10; duration = 136; initialDepth = 2117.201421; finalDepth = 2111.415910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2035419999997 # Actual altitude: 70.2035419999997 # Commanded vehicle depth:2111.41591 # Seafloor depth:-2181.619452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.81; 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 = 280.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2182.201421 meters looking forward 200.000000 meters along route # Maximum depth: 2191.522195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.201421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938045; longitude = -129.096748; captureRadius = 10; duration = 136; initialDepth = 2120.319014; finalDepth = 2117.201421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2035419999997 # Actual altitude: 70.2035419999997 # Commanded vehicle depth:2117.201421 # Seafloor depth:-2184.658809 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.81; 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 = 280.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2185.319014 meters looking forward 200.000000 meters along route # Maximum depth: 2196.656792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.319014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937185; longitude = -129.097245; captureRadius = 10; duration = 136; initialDepth = 2127.412735; finalDepth = 2120.319014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4643959999999 # Actual altitude: 71.4643959999999 # Commanded vehicle depth:2120.319014 # Seafloor depth:-2191.783410 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.86; 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 = 285.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2192.412735 meters looking forward 200.000000 meters along route # Maximum depth: 2203.790412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2127.412735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936336; longitude = -129.097736; captureRadius = 10; duration = 136; initialDepth = 2135.201241; finalDepth = 2127.412735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4643959999999 # Actual altitude: 71.4643959999999 # Commanded vehicle depth:2127.412735 # Seafloor depth:-2197.803638 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.86; 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 = 285.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2200.201241 meters looking forward 200.000000 meters along route # Maximum depth: 2211.637287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.201241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935437; longitude = -129.098255; captureRadius = 10; duration = 136; initialDepth = 2138.998766; finalDepth = 2135.201241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.390903 # Actual altitude: 70.390903 # Commanded vehicle depth:2135.201241 # Seafloor depth:-2203.626983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.56; 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 = 281.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2203.998766 meters looking forward 200.000000 meters along route # Maximum depth: 2216.514117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2138.998766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934537; longitude = -129.098775; captureRadius = 10; duration = 136; initialDepth = 2147.750702; finalDepth = 2138.998766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2238179999999 # Actual altitude: 73.2238179999999 # Commanded vehicle depth:2138.998766 # Seafloor depth:-2212.222584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.90; 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 = 292.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2212.750702 meters looking forward 200.000000 meters along route # Maximum depth: 2222.624188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.750702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933638; longitude = -129.099294; captureRadius = 10; duration = 136; initialDepth = 2152.167913; finalDepth = 2147.750702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2238179999999 # Actual altitude: 73.2238179999999 # Commanded vehicle depth:2147.750702 # Seafloor depth:-2216.789969 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.90; 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 = 292.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2217.167913 meters looking forward 200.000000 meters along route # Maximum depth: 2225.496319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2152.167913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932783; longitude = -129.099788; captureRadius = 10; duration = 136; initialDepth = 2158.489953; finalDepth = 2152.167913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7306569999996 # Actual altitude: 70.7306569999996 # Commanded vehicle depth:2152.167913 # Seafloor depth:-2222.898570 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.92; 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 = 282.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2223.489953 meters looking forward 200.000000 meters along route # Maximum depth: 2230.758365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2158.489953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931929; longitude = -129.100281; captureRadius = 10; duration = 136; initialDepth = 2162.621885; finalDepth = 2158.489953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7306569999996 # Actual altitude: 70.7306569999996 # Commanded vehicle depth:2158.489953 # Seafloor depth:-2226.336064 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.92; 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 = 282.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2227.621885 meters looking forward 200.000000 meters along route # Maximum depth: 2230.786635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2162.621885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931030; longitude = -129.100801; captureRadius = 10; duration = 136; initialDepth = 2164.488625; finalDepth = 2162.621885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1647499999999 # Actual altitude: 68.1647499999999 # Commanded vehicle depth:2162.621885 # Seafloor depth:-2230.786635 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.66; 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 = 272.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2229.488625 meters looking forward 200.000000 meters along route # Maximum depth: 2230.638273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2164.488625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930130; longitude = -129.101321; captureRadius = 10; duration = 136; initialDepth = 2164.488625; finalDepth = 2164.488625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1647499999999 # Actual altitude: 68.1647499999999 # Commanded vehicle depth:2164.488625 # Seafloor depth:-2230.390661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.66; 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 = 272.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2229.488625 meters looking forward 200.000000 meters along route # Maximum depth: 2234.748684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2164.488625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929231; longitude = -129.101840; captureRadius = 10; duration = 136; initialDepth = 2165.943064; finalDepth = 2164.488625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.388985 # Actual altitude: 66.388985 # Commanded vehicle depth:2164.488625 # Seafloor depth:-2230.877610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.56; 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 = 265.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2230.943064 meters looking forward 200.000000 meters along route # Maximum depth: 2235.209451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2165.943064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928381; longitude = -129.102331; captureRadius = 10; duration = 136; initialDepth = 2169.518714; finalDepth = 2165.943064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9752020000001 # Actual altitude: 68.9752020000001 # Commanded vehicle depth:2165.943064 # Seafloor depth:-2234.918266 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.90; 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 = 275.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 136.168175 meters # Minimum depth: 2234.518714 meters looking forward 200.000000 meters along route # Maximum depth: 2237.978743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2169.518714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927522; longitude = -129.102827; captureRadius = 10; duration = 136; initialDepth = 2169.518714; finalDepth = 2169.518714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9752020000001 # Actual altitude: 68.9752020000001 # Commanded vehicle depth:2169.518714 # Seafloor depth:-2234.518714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.90; 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 = 275.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.90; 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 136.168175 meters # Minimum depth: 2234.518714 meters looking forward 200.000000 meters along route # Maximum depth: 2249.917427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2169.518714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926683; longitude = -129.103312; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2172.301298; finalDepth = 2169.518714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.777368 # Actual altitude: 68.777368 # Commanded vehicle depth:2169.518714 # Seafloor depth:-2238.296082 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.76; MB_Bottom_Detect_Filter_Max_Range = 275.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 136.168175 meters # Minimum depth: 2237.301298 meters looking forward 200.000000 meters along route # Maximum depth: 2262.195806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.301298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926892; longitude = -129.104212; captureRadius = 10; duration = 136; initialDepth = 2179.109902; finalDepth = 2172.301298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 77.7235519999999 # Actual altitude: 77.7235519999999 # Commanded vehicle depth:2172.301298 # Seafloor depth:-2250.024850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.89; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.54; MB_Bottom_Detect_Filter_Max_Range = 310.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 136.168175 meters # Minimum depth: 2244.109902 meters looking forward 200.000000 meters along route # Maximum depth: 2262.195806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2179.109902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927192; longitude = -129.105498; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2193.442472; finalDepth = 2179.109902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9841529999999 # Actual altitude: 82.9841529999999 # Commanded vehicle depth:2179.109902 # Seafloor depth:-2262.094055 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 331.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2258.442472 meters looking forward 200.000000 meters along route # Maximum depth: 2262.195806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2193.442472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927702; longitude = -129.105203; captureRadius = 10; duration = 136; initialDepth = 2189.844348; finalDepth = 2193.442472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9841529999999 # Actual altitude: 82.9841529999999 # Commanded vehicle depth:2193.442472 # Seafloor depth:-2259.692457 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 331.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2254.844348 meters looking forward 200.000000 meters along route # Maximum depth: 2258.995311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2189.844348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928601; longitude = -129.104682; captureRadius = 10; duration = 136; initialDepth = 2186.046342; finalDepth = 2189.844348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6421339999997 # Actual altitude: 68.6421339999997 # Commanded vehicle depth:2189.844348 # Seafloor depth:-2258.486482 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.57; 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 = 274.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2251.046342 meters looking forward 200.000000 meters along route # Maximum depth: 2258.025551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2186.046342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929501; longitude = -129.104161; captureRadius = 10; duration = 136; initialDepth = 2183.232440; finalDepth = 2186.046342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6421339999997 # Actual altitude: 68.6421339999997 # Commanded vehicle depth:2186.046342 # Seafloor depth:-2254.465505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.57; 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 = 274.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2248.232440 meters looking forward 200.000000 meters along route # Maximum depth: 2253.947734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2183.232440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930350; longitude = -129.103669; captureRadius = 10; duration = 136; initialDepth = 2182.767289; finalDepth = 2183.232440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.419163 # Actual altitude: 68.419163 # Commanded vehicle depth:2183.23244 # Seafloor depth:-2250.792327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.68; 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 = 273.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2247.767289 meters looking forward 200.000000 meters along route # Maximum depth: 2250.000116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2182.767289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931210; longitude = -129.103172; captureRadius = 10; duration = 136; initialDepth = 2181.665910; finalDepth = 2182.767289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5598869999999 # Actual altitude: 67.5598869999999 # Commanded vehicle depth:2182.767289 # Seafloor depth:-2247.905956 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.24; 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 = 270.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2246.665910 meters looking forward 200.000000 meters along route # Maximum depth: 2248.941993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.665910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932109; longitude = -129.102651; captureRadius = 10; duration = 136; initialDepth = 2177.795850; finalDepth = 2181.665910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7290329999996 # Actual altitude: 66.7290329999996 # Commanded vehicle depth:2181.66591 # Seafloor depth:-2248.394943 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.92; 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 = 266.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2242.795850 meters looking forward 200.000000 meters along route # Maximum depth: 2247.999603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2177.795850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933008; longitude = -129.102130; captureRadius = 10; duration = 136; initialDepth = 2163.769894; finalDepth = 2177.795850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6024379999999 # Actual altitude: 68.6024379999999 # Commanded vehicle depth:2177.79585 # Seafloor depth:-2246.398288 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.41; 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 = 274.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2228.769894 meters looking forward 200.000000 meters along route # Maximum depth: 2246.092883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2163.769894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933908; longitude = -129.101610; captureRadius = 10; duration = 136; initialDepth = 2145.649960; finalDepth = 2163.769894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.130459 # Actual altitude: 78.130459 # Commanded vehicle depth:2163.769894 # Seafloor depth:-2241.900353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.52; 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 = 312.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2210.649960 meters looking forward 200.000000 meters along route # Maximum depth: 2240.850215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2145.649960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934807; longitude = -129.101089; captureRadius = 10; duration = 136; initialDepth = 2135.422746; finalDepth = 2145.649960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9415609999996 # Actual altitude: 81.9415609999996 # Commanded vehicle depth:2145.64996 # Seafloor depth:-2227.591521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2200.422746 meters looking forward 200.000000 meters along route # Maximum depth: 2226.105832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.422746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935667; longitude = -129.100591; captureRadius = 10; duration = 136; initialDepth = 2129.754271; finalDepth = 2135.422746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9415609999996 # Actual altitude: 81.9415609999996 # Commanded vehicle depth:2135.422746 # Seafloor depth:-2209.771682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2194.754271 meters looking forward 200.000000 meters along route # Maximum depth: 2207.602950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.754271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936516; longitude = -129.100100; captureRadius = 10; duration = 136; initialDepth = 2126.766132; finalDepth = 2129.754271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3489359999999 # Actual altitude: 74.3489359999999 # Commanded vehicle depth:2129.754271 # Seafloor depth:-2200.059545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.87; MB_Bottom_Detect_Filter_Max_Range = 297.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2191.766132 meters looking forward 200.000000 meters along route # Maximum depth: 2199.074015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.766132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937415; longitude = -129.099579; captureRadius = 10; duration = 136; initialDepth = 2125.115660; finalDepth = 2126.766132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3052740000003 # Actual altitude: 70.3052740000003 # Commanded vehicle depth:2126.766132 # Seafloor depth:-2194.283813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.22; 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 = 281.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2190.115660 meters looking forward 200.000000 meters along route # Maximum depth: 2193.225231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.115660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938315; longitude = -129.099058; captureRadius = 10; duration = 136; initialDepth = 2125.115660; finalDepth = 2125.115660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5176809999998 # Actual altitude: 67.5176809999998 # Commanded vehicle depth:2125.11566 # Seafloor depth:-2191.900749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.07; 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 = 270.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2190.115660 meters looking forward 200.000000 meters along route # Maximum depth: 2193.362084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.115660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939214; longitude = -129.098537; captureRadius = 10; duration = 136; initialDepth = 2126.863058; finalDepth = 2125.115660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.785089 # Actual altitude: 66.785089 # Commanded vehicle depth:2125.11566 # Seafloor depth:-2191.352998 # behavior reson { duration = 6; 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 14 # Segment length 136.168175 meters # Minimum depth: 2191.863058 meters looking forward 200.000000 meters along route # Maximum depth: 2195.678531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.863058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940114; longitude = -129.098017; captureRadius = 10; duration = 136; initialDepth = 2127.509362; finalDepth = 2126.863058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6066329999999 # Actual altitude: 66.6066329999999 # Commanded vehicle depth:2126.863058 # Seafloor depth:-2193.469691 # behavior reson { duration = 6; 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 14 # Segment length 136.168175 meters # Minimum depth: 2192.509362 meters looking forward 200.000000 meters along route # Maximum depth: 2195.678531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2127.509362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940984; longitude = -129.097513; captureRadius = 10; duration = 136; initialDepth = 2121.255774; finalDepth = 2127.509362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8275200000003 # Actual altitude: 66.8275200000003 # Commanded vehicle depth:2127.509362 # Seafloor depth:-2194.336882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.31; 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 = 267.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2186.255774 meters looking forward 200.000000 meters along route # Maximum depth: 2193.790076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.255774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941823; longitude = -129.097027; captureRadius = 10; duration = 136; initialDepth = 2117.624260; finalDepth = 2121.255774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.053555 # Actual altitude: 71.053555 # Commanded vehicle depth:2121.255774 # Seafloor depth:-2192.309329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.21; MB_Bottom_Detect_Filter_Max_Range = 284.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2182.624260 meters looking forward 200.000000 meters along route # Maximum depth: 2191.335689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.624260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.096507; captureRadius = 10; duration = 136; initialDepth = 2107.445310; finalDepth = 2117.624260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.053555 # Actual altitude: 71.053555 # Commanded vehicle depth:2117.62426 # Seafloor depth:-2185.917630 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.21; MB_Bottom_Detect_Filter_Max_Range = 284.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2172.445310 meters looking forward 200.000000 meters along route # Maximum depth: 2185.648922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2107.445310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943621; longitude = -129.095986; captureRadius = 10; duration = 136; initialDepth = 2105.836162; finalDepth = 2107.445310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4675400000001 # Actual altitude: 74.4675400000001 # Commanded vehicle depth:2107.44531 # Seafloor depth:-2181.912850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 297.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2170.836162 meters looking forward 200.000000 meters along route # Maximum depth: 2180.987871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.836162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944521; longitude = -129.095465; captureRadius = 10; duration = 136; initialDepth = 2105.836162; finalDepth = 2105.836162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4675400000001 # Actual altitude: 74.4675400000001 # Commanded vehicle depth:2105.836162 # Seafloor depth:-2172.202275 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.89; MB_Bottom_Detect_Filter_Max_Range = 297.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2170.836162 meters looking forward 200.000000 meters along route # Maximum depth: 2190.036482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.836162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945376; longitude = -129.094970; captureRadius = 10; duration = 136; initialDepth = 2111.569611; finalDepth = 2105.836162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4990419999999 # Actual altitude: 68.4990419999999 # Commanded vehicle depth:2105.836162 # Seafloor depth:-2174.335204 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.00; 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 = 274.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2176.569611 meters looking forward 200.000000 meters along route # Maximum depth: 2201.757191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.569611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946230; longitude = -129.094476; captureRadius = 10; duration = 136; initialDepth = 2129.115928; finalDepth = 2111.569611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8941600000003 # Actual altitude: 79.8941600000003 # Commanded vehicle depth:2111.569611 # Seafloor depth:-2191.463771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.98; MB_Bottom_Detect_Filter_Max_Range = 319.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2194.115928 meters looking forward 200.000000 meters along route # Maximum depth: 2206.622426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.115928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947129; longitude = -129.093955; captureRadius = 10; duration = 136; initialDepth = 2135.850555; finalDepth = 2129.115928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8941600000003 # Actual altitude: 79.8941600000003 # Commanded vehicle depth:2129.115928 # Seafloor depth:-2202.098430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.98; MB_Bottom_Detect_Filter_Max_Range = 319.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2200.850555 meters looking forward 200.000000 meters along route # Maximum depth: 2206.622426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.850555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948028; longitude = -129.093434; captureRadius = 10; duration = 136; initialDepth = 2130.699097; finalDepth = 2135.850555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9825019999998 # Actual altitude: 72.9825019999998 # Commanded vehicle depth:2135.850555 # Seafloor depth:-2206.519250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.93; 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 = 291.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2195.699097 meters looking forward 200.000000 meters along route # Maximum depth: 2205.714104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.699097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948928; longitude = -129.092914; captureRadius = 10; duration = 136; initialDepth = 2117.181481; finalDepth = 2130.699097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6686949999998 # Actual altitude: 70.6686949999998 # Commanded vehicle depth:2130.699097 # Seafloor depth:-2200.537238 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.67; 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 = 282.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2182.181481 meters looking forward 200.000000 meters along route # Maximum depth: 2200.366905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.181481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949827; longitude = -129.092393; captureRadius = 10; duration = 136; initialDepth = 2103.561543; finalDepth = 2117.181481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7264209999998 # Actual altitude: 77.7264209999998 # Commanded vehicle depth:2117.181481 # Seafloor depth:-2194.907902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.91; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 310.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2168.561543 meters looking forward 200.000000 meters along route # Maximum depth: 2193.757031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.561543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950692; longitude = -129.091892; captureRadius = 10; duration = 136; initialDepth = 2091.215156; finalDepth = 2103.561543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7264209999998 # Actual altitude: 77.7264209999998 # Commanded vehicle depth:2103.561543 # Seafloor depth:-2181.075673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.91; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 310.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2156.215156 meters looking forward 200.000000 meters along route # Maximum depth: 2178.800115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.215156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951536; longitude = -129.091403; captureRadius = 10; duration = 136; initialDepth = 2088.418767; finalDepth = 2091.215156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.51413 # Actual altitude: 77.51413 # Commanded vehicle depth:2091.215156 # Seafloor depth:-2167.274897 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.06; 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 = 310.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2153.418767 meters looking forward 200.000000 meters along route # Maximum depth: 2164.620310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.418767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952436; longitude = -129.090883; captureRadius = 10; duration = 136; initialDepth = 2088.418767; finalDepth = 2088.418767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0597409999996 # Actual altitude: 76.0597409999996 # Commanded vehicle depth:2088.418767 # Seafloor depth:-2155.745029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2153.418767 meters looking forward 200.000000 meters along route # Maximum depth: 2162.949331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.418767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953335; longitude = -129.090362; captureRadius = 10; duration = 136; initialDepth = 2089.553971; finalDepth = 2088.418767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.326262 # Actual altitude: 67.326262 # Commanded vehicle depth:2088.418767 # Seafloor depth:-2154.092524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.31; 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 = 269.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2154.553971 meters looking forward 200.000000 meters along route # Maximum depth: 2172.391101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.553971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.089841; captureRadius = 10; duration = 136; initialDepth = 2100.166605; finalDepth = 2089.553971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4937610000002 # Actual altitude: 74.4937610000002 # Commanded vehicle depth:2089.553971 # Seafloor depth:-2164.047732 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.90; MB_Bottom_Detect_Filter_Max_Range = 297.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2165.166605 meters looking forward 200.000000 meters along route # Maximum depth: 2173.860667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.166605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955085; longitude = -129.089349; captureRadius = 10; duration = 136; initialDepth = 2089.951455; finalDepth = 2100.166605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4937610000002 # Actual altitude: 74.4937610000002 # Commanded vehicle depth:2100.166605 # Seafloor depth:-2172.684395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.90; MB_Bottom_Detect_Filter_Max_Range = 297.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2154.951455 meters looking forward 200.000000 meters along route # Maximum depth: 2173.860667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.951455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955943; longitude = -129.088852; captureRadius = 10; duration = 136; initialDepth = 2081.320657; finalDepth = 2089.951455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8839929999999 # Actual altitude: 78.8839929999999 # Commanded vehicle depth:2089.951455 # Seafloor depth:-2168.835448 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2146.320657 meters looking forward 200.000000 meters along route # Maximum depth: 2165.294874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.320657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956843; longitude = -129.088331; captureRadius = 10; duration = 136; initialDepth = 2078.309651; finalDepth = 2081.320657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8839929999999 # Actual altitude: 78.8839929999999 # Commanded vehicle depth:2081.320657 # Seafloor depth:-2153.595978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2143.309651 meters looking forward 200.000000 meters along route # Maximum depth: 2151.093295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.309651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957742; longitude = -129.087810; captureRadius = 10; duration = 136; initialDepth = 2074.944975; finalDepth = 2078.309651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2753209999996 # Actual altitude: 72.2753209999996 # Commanded vehicle depth:2078.309651 # Seafloor depth:-2145.493032 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.10; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.46; MB_Bottom_Detect_Filter_Max_Range = 289.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2139.944975 meters looking forward 200.000000 meters along route # Maximum depth: 2145.370624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.944975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958641; longitude = -129.087290; captureRadius = 10; duration = 136; initialDepth = 2074.401364; finalDepth = 2074.944975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4256490000002 # Actual altitude: 70.4256490000002 # Commanded vehicle depth:2074.944975 # Seafloor depth:-2145.370624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.70; 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 = 281.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2139.401364 meters looking forward 200.000000 meters along route # Maximum depth: 2145.002404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.401364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959541; longitude = -129.086769; captureRadius = 10; duration = 136; initialDepth = 2074.005105; finalDepth = 2074.401364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4256490000002 # Actual altitude: 70.4256490000002 # Commanded vehicle depth:2074.401364 # Seafloor depth:-2139.721221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.70; 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 = 281.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2139.005105 meters looking forward 200.000000 meters along route # Maximum depth: 2141.849751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.005105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960401; longitude = -129.086271; captureRadius = 10; duration = 136; initialDepth = 2071.088477; finalDepth = 2074.005105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7659659999999 # Actual altitude: 67.7659659999999 # Commanded vehicle depth:2074.005105 # Seafloor depth:-2141.771071 # behavior reson { duration = 6; 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 14 # Segment length 136.168175 meters # Minimum depth: 2136.088477 meters looking forward 200.000000 meters along route # Maximum depth: 2141.637495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2071.088477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961250; longitude = -129.085780; captureRadius = 10; duration = 136; initialDepth = 2070.347953; finalDepth = 2071.088477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7659659999999 # Actual altitude: 67.7659659999999 # Commanded vehicle depth:2071.088477 # Seafloor depth:-2138.769716 # behavior reson { duration = 6; 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 14 # Segment length 136.168175 meters # Minimum depth: 2135.347953 meters looking forward 200.000000 meters along route # Maximum depth: 2137.973612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.347953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962149; longitude = -129.085259; captureRadius = 10; duration = 136; initialDepth = 2067.037528; finalDepth = 2070.347953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.681239 # Actual altitude: 67.681239 # Commanded vehicle depth:2070.347953 # Seafloor depth:-2136.211517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.72; 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 = 270.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2132.037528 meters looking forward 200.000000 meters along route # Maximum depth: 2136.456824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.037528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963048; longitude = -129.084738; captureRadius = 10; duration = 136; initialDepth = 2062.384433; finalDepth = 2067.037528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0448570000003 # Actual altitude: 68.0448570000003 # Commanded vehicle depth:2067.037528 # Seafloor depth:-2135.082385 # behavior reson { duration = 6; 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 14 # Segment length 136.168175 meters # Minimum depth: 2127.384433 meters looking forward 200.000000 meters along route # Maximum depth: 2134.384290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.384433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963948; longitude = -129.084217; captureRadius = 10; duration = 136; initialDepth = 2057.986537; finalDepth = 2062.384433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.363562 # Actual altitude: 69.363562 # Commanded vehicle depth:2062.384433 # Seafloor depth:-2131.747995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.45; 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 = 277.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2122.986537 meters looking forward 200.000000 meters along route # Maximum depth: 2131.266262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2057.986537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964847; longitude = -129.083697; captureRadius = 10; duration = 136; initialDepth = 2056.352127; finalDepth = 2057.986537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.363562 # Actual altitude: 69.363562 # Commanded vehicle depth:2057.986537 # Seafloor depth:-2126.921397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.45; 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 = 277.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2121.352127 meters looking forward 200.000000 meters along route # Maximum depth: 2125.170805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2056.352127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965747; longitude = -129.083176; captureRadius = 10; duration = 136; initialDepth = 2056.352127; finalDepth = 2056.352127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9348599999998 # Actual altitude: 68.9348599999998 # Commanded vehicle depth:2056.352127 # Seafloor depth:-2122.856632 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.74; 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 = 275.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2121.352127 meters looking forward 200.000000 meters along route # Maximum depth: 2123.521096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2056.352127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966646; longitude = -129.082655; captureRadius = 10; duration = 136; initialDepth = 2055.586801; finalDepth = 2056.352127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5045049999999 # Actual altitude: 66.5045049999999 # Commanded vehicle depth:2056.352127 # Seafloor depth:-2122.579208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.02; 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 = 266.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 136.168175 meters # Minimum depth: 2120.586801 meters looking forward 200.000000 meters along route # Maximum depth: 2123.521096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.586801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967567; longitude = -129.082122; captureRadius = 10; duration = 136; initialDepth = 2055.586801; finalDepth = 2055.586801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9299019999999 # Actual altitude: 66.9299019999999 # Commanded vehicle depth:2055.586801 # Seafloor depth:-2122.516703 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.72; 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 = 267.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.72; 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 136.168175 meters # Minimum depth: 2120.586801 meters looking forward 200.000000 meters along route # Maximum depth: 2135.359619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.586801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968415; longitude = -129.081631; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2055.586801; finalDepth = 2055.586801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9299019999999 # Actual altitude: 66.9299019999999 # Commanded vehicle depth:2055.586801 # Seafloor depth:-2120.796631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.72; 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 = 267.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 136.168175 meters # Minimum depth: 2120.586801 meters looking forward 200.000000 meters along route # Maximum depth: 2163.757904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.586801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968604; longitude = -129.082390; captureRadius = 10; duration = 136; initialDepth = 2064.343039; finalDepth = 2055.586801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 82.569383 # Actual altitude: 82.569383 # Commanded vehicle depth:2055.586801 # Seafloor depth:-2138.156184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 330.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 136.168175 meters # Minimum depth: 2129.343039 meters looking forward 200.000000 meters along route # Maximum depth: 2166.956950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.343039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968925; longitude = -129.083683; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2083.600394; finalDepth = 2064.343039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.294717 # Actual altitude: 100 # Commanded vehicle depth:2064.343039 # Seafloor depth:-2164.637756 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2159.046939 meters looking forward 200.000000 meters along route # Maximum depth: 2174.421167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.600394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968387; longitude = -129.083996; captureRadius = 10; duration = 136; initialDepth = 2102.589694; finalDepth = 2083.600394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.294717 # Actual altitude: 100 # Commanded vehicle depth:2083.6003936 # Seafloor depth:-2167.191040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2167.589694 meters looking forward 200.000000 meters along route # Maximum depth: 2180.233107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.589694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967546; longitude = -129.084484; captureRadius = 10; duration = 136; initialDepth = 2111.906076; finalDepth = 2102.589694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5906464000009 # Actual altitude: 83.5906464000009 # Commanded vehicle depth:2102.589694 # Seafloor depth:-2175.227766 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 334.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2176.906076 meters looking forward 200.000000 meters along route # Maximum depth: 2181.174948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.906076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966646; longitude = -129.085007; captureRadius = 10; duration = 136; initialDepth = 2115.084503; finalDepth = 2111.906076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6380720000002 # Actual altitude: 72.6380720000002 # Commanded vehicle depth:2111.906076 # Seafloor depth:-2180.785195 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.55; 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 = 290.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2180.084503 meters looking forward 200.000000 meters along route # Maximum depth: 2186.396758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.084503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965747; longitude = -129.085529; captureRadius = 10; duration = 136; initialDepth = 2116.959179; finalDepth = 2115.084503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8791189999997 # Actual altitude: 68.8791189999997 # Commanded vehicle depth:2115.084503 # Seafloor depth:-2181.330305 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.52; 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 = 275.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2181.959179 meters looking forward 200.000000 meters along route # Maximum depth: 2193.353073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.959179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964847; longitude = -129.086052; captureRadius = 10; duration = 136; initialDepth = 2122.882109; finalDepth = 2116.959179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0802060000001 # Actual altitude: 70.0802060000001 # Commanded vehicle depth:2116.959179 # Seafloor depth:-2187.039385 # behavior reson { duration = 6; 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 12 # Segment length 136.168175 meters # Minimum depth: 2187.882109 meters looking forward 200.000000 meters along route # Maximum depth: 2198.970757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.882109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963948; longitude = -129.086574; captureRadius = 10; duration = 136; initialDepth = 2129.360097; finalDepth = 2122.882109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9113739999998 # Actual altitude: 70.9113739999998 # Commanded vehicle depth:2122.882109 # Seafloor depth:-2193.793483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.65; 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 = 283.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2194.360097 meters looking forward 200.000000 meters along route # Maximum depth: 2199.890047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.360097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963088; longitude = -129.087074; captureRadius = 10; duration = 136; initialDepth = 2133.507411; finalDepth = 2129.360097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9113739999998 # Actual altitude: 70.9113739999998 # Commanded vehicle depth:2129.360097 # Seafloor depth:-2199.277474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.65; 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 = 283.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2198.507411 meters looking forward 200.000000 meters along route # Maximum depth: 2199.890047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.507411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962239; longitude = -129.087567; captureRadius = 10; duration = 136; initialDepth = 2133.507411; finalDepth = 2133.507411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9173769999998 # Actual altitude: 69.9173769999998 # Commanded vehicle depth:2133.507411 # Seafloor depth:-2199.609708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.67; 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 = 279.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2198.507411 meters looking forward 200.000000 meters along route # Maximum depth: 2200.052900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.507411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961340; longitude = -129.088089; captureRadius = 10; duration = 136; initialDepth = 2129.841978; finalDepth = 2133.507411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1022969999999 # Actual altitude: 66.1022969999999 # Commanded vehicle depth:2133.507411 # Seafloor depth:-2198.883045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.41; 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 = 264.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2194.841978 meters looking forward 200.000000 meters along route # Maximum depth: 2200.052900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.841978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960440; longitude = -129.088612; captureRadius = 10; duration = 136; initialDepth = 2121.240309; finalDepth = 2129.841978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.24179 # Actual altitude: 68.24179 # Commanded vehicle depth:2129.841978 # Seafloor depth:-2198.083768 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.97; 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 = 272.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2186.240309 meters looking forward 200.000000 meters along route # Maximum depth: 2197.576935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.240309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959541; longitude = -129.089134; captureRadius = 10; duration = 136; initialDepth = 2118.646162; finalDepth = 2121.240309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6269440000001 # Actual altitude: 72.6269440000001 # Commanded vehicle depth:2121.240309 # Seafloor depth:-2193.867253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.51; 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 = 290.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2183.646162 meters looking forward 200.000000 meters along route # Maximum depth: 2193.018332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.646162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958641; longitude = -129.089657; captureRadius = 10; duration = 136; initialDepth = 2118.646162; finalDepth = 2118.646162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6269440000001 # Actual altitude: 72.6269440000001 # Commanded vehicle depth:2118.646162 # Seafloor depth:-2185.803212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 290.51; 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 = 290.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2183.646162 meters looking forward 200.000000 meters along route # Maximum depth: 2191.120912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.646162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957789; longitude = -129.090152; captureRadius = 10; duration = 136; initialDepth = 2120.527817; finalDepth = 2118.646162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1570499999998 # Actual altitude: 67.1570499999998 # Commanded vehicle depth:2118.646162 # Seafloor depth:-2184.690044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.63; 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 = 268.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2185.527817 meters looking forward 200.000000 meters along route # Maximum depth: 2198.775237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.527817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956933; longitude = -129.090650; captureRadius = 10; duration = 136; initialDepth = 2129.516265; finalDepth = 2120.527817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8253889999996 # Actual altitude: 71.8253889999996 # Commanded vehicle depth:2120.527817 # Seafloor depth:-2192.353206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.30; 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 = 287.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2194.516265 meters looking forward 200.000000 meters along route # Maximum depth: 2198.789177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.516265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956033; longitude = -129.091172; captureRadius = 10; duration = 136; initialDepth = 2128.197840; finalDepth = 2129.516265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8253889999996 # Actual altitude: 71.8253889999996 # Commanded vehicle depth:2129.516265 # Seafloor depth:-2198.774968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.30; 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 = 287.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2193.197840 meters looking forward 200.000000 meters along route # Maximum depth: 2198.636344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.197840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955134; longitude = -129.091694; captureRadius = 10; duration = 136; initialDepth = 2128.197840; finalDepth = 2128.197840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.258703 # Actual altitude: 69.258703 # Commanded vehicle depth:2128.19784 # Seafloor depth:-2194.639749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.03; 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 = 277.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2193.197840 meters looking forward 200.000000 meters along route # Maximum depth: 2202.610801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.197840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.092217; captureRadius = 10; duration = 136; initialDepth = 2131.495782; finalDepth = 2128.197840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.324838 # Actual altitude: 67.324838 # Commanded vehicle depth:2128.19784 # Seafloor depth:-2195.522678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.30; 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 = 269.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2196.495782 meters looking forward 200.000000 meters along route # Maximum depth: 2210.933090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.495782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953335; longitude = -129.092739; captureRadius = 10; duration = 136; initialDepth = 2139.414702; finalDepth = 2131.495782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.641384 # Actual altitude: 71.641384 # Commanded vehicle depth:2131.495782 # Seafloor depth:-2203.137166 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.57; 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 = 286.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2204.414702 meters looking forward 200.000000 meters along route # Maximum depth: 2221.882392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2139.414702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952436; longitude = -129.093262; captureRadius = 10; duration = 136; initialDepth = 2147.467109; finalDepth = 2139.414702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0874279999998 # Actual altitude: 72.0874279999998 # Commanded vehicle depth:2139.414702 # Seafloor depth:-2211.502130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.42; MB_Bottom_Detect_Filter_Max_Range = 288.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2212.467109 meters looking forward 200.000000 meters along route # Maximum depth: 2224.801480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.467109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951569; longitude = -129.093766; captureRadius = 10; duration = 136; initialDepth = 2158.250419; finalDepth = 2147.467109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.9577629999999 # Actual altitude: 74.9577629999999 # Commanded vehicle depth:2147.467109 # Seafloor depth:-2222.424872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.99; MB_Bottom_Detect_Filter_Max_Range = 299.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2223.250419 meters looking forward 200.000000 meters along route # Maximum depth: 2226.654280 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2158.250419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950727; longitude = -129.094255; captureRadius = 10; duration = 136; initialDepth = 2156.948436; finalDepth = 2158.250419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.9577629999999 # Actual altitude: 74.9577629999999 # Commanded vehicle depth:2158.250419 # Seafloor depth:-2225.100157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.99; MB_Bottom_Detect_Filter_Max_Range = 299.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2221.948436 meters looking forward 200.000000 meters along route # Maximum depth: 2226.654280 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2156.948436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949827; longitude = -129.094777; captureRadius = 10; duration = 136; initialDepth = 2154.428122; finalDepth = 2156.948436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4687019999997 # Actual altitude: 68.4687019999997 # Commanded vehicle depth:2156.948436 # Seafloor depth:-2225.417138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.87; 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 = 273.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2219.428122 meters looking forward 200.000000 meters along route # Maximum depth: 2224.621592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2154.428122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948928; longitude = -129.095300; captureRadius = 10; duration = 136; initialDepth = 2150.928679; finalDepth = 2154.428122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4687019999997 # Actual altitude: 68.4687019999997 # Commanded vehicle depth:2154.428122 # Seafloor depth:-2221.591332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.87; 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 = 273.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2215.928679 meters looking forward 200.000000 meters along route # Maximum depth: 2221.234531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2150.928679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948028; longitude = -129.095822; captureRadius = 10; duration = 136; initialDepth = 2150.651176; finalDepth = 2150.928679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0468999999998 # Actual altitude: 68.0468999999998 # Commanded vehicle depth:2150.928679 # Seafloor depth:-2218.975579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.19; 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 = 272.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2215.651176 meters looking forward 200.000000 meters along route # Maximum depth: 2218.491456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2150.651176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947129; longitude = -129.096344; captureRadius = 10; duration = 136; initialDepth = 2149.347500; finalDepth = 2150.651176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0468999999998 # Actual altitude: 68.0468999999998 # Commanded vehicle depth:2150.651176 # Seafloor depth:-2216.274806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.19; 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 = 272.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2214.347500 meters looking forward 200.000000 meters along route # Maximum depth: 2217.467793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2149.347500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946270; longitude = -129.096844; captureRadius = 10; duration = 136; initialDepth = 2146.838790; finalDepth = 2149.347500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0757780000004 # Actual altitude: 66.0757780000004 # Commanded vehicle depth:2149.3475 # Seafloor depth:-2215.423278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.30; 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 = 264.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2211.838790 meters looking forward 200.000000 meters along route # Maximum depth: 2214.968927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2146.838790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945420; longitude = -129.097337; captureRadius = 10; duration = 136; initialDepth = 2146.675969; finalDepth = 2146.838790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4517410000003 # Actual altitude: 67.4517410000003 # Commanded vehicle depth:2146.83879 # Seafloor depth:-2214.290531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.81; 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 = 269.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2211.675969 meters looking forward 200.000000 meters along route # Maximum depth: 2214.751853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2146.675969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944521; longitude = -129.097860; captureRadius = 10; duration = 136; initialDepth = 2147.251628; finalDepth = 2146.675969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4517410000003 # Actual altitude: 67.4517410000003 # Commanded vehicle depth:2146.675969 # Seafloor depth:-2211.675969 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.81; 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 = 269.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2212.251628 meters looking forward 200.000000 meters along route # Maximum depth: 2218.703148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.251628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943621; longitude = -129.098382; captureRadius = 10; duration = 136; initialDepth = 2151.728399; finalDepth = 2147.251628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0571209999998 # Actual altitude: 68.0571209999998 # Commanded vehicle depth:2147.251628 # Seafloor depth:-2215.308749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.23; 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 = 272.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2216.728399 meters looking forward 200.000000 meters along route # Maximum depth: 2219.986612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2151.728399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.098905; captureRadius = 10; duration = 136; initialDepth = 2152.263077; finalDepth = 2151.728399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0571209999998 # Actual altitude: 68.0571209999998 # Commanded vehicle depth:2151.728399 # Seafloor depth:-2217.895823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.23; 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 = 272.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2217.263077 meters looking forward 200.000000 meters along route # Maximum depth: 2220.560017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2152.263077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941823; longitude = -129.099427; captureRadius = 10; duration = 136; initialDepth = 2154.004117; finalDepth = 2152.263077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9527939999998 # Actual altitude: 67.9527939999998 # Commanded vehicle depth:2152.263077 # Seafloor depth:-2220.215871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.81; 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 = 271.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2219.004117 meters looking forward 200.000000 meters along route # Maximum depth: 2224.169553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2154.004117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940971; longitude = -129.099922; captureRadius = 10; duration = 136; initialDepth = 2154.503016; finalDepth = 2154.004117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9527939999998 # Actual altitude: 67.9527939999998 # Commanded vehicle depth:2154.004117 # Seafloor depth:-2219.092339 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.81; 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 = 271.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2219.503016 meters looking forward 200.000000 meters along route # Maximum depth: 2230.621952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2154.503016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940114; longitude = -129.100420; captureRadius = 10; duration = 136; initialDepth = 2162.384605; finalDepth = 2154.503016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7291259999997 # Actual altitude: 70.7291259999997 # Commanded vehicle depth:2154.503016 # Seafloor depth:-2225.232142 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.92; 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 = 282.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2227.384605 meters looking forward 200.000000 meters along route # Maximum depth: 2233.829370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2162.384605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939214; longitude = -129.100942; captureRadius = 10; duration = 136; initialDepth = 2167.462633; finalDepth = 2162.384605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7291259999997 # Actual altitude: 70.7291259999997 # Commanded vehicle depth:2162.384605 # Seafloor depth:-2231.125294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.92; 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 = 282.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2232.462633 meters looking forward 200.000000 meters along route # Maximum depth: 2233.936482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.462633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938315; longitude = -129.101465; captureRadius = 10; duration = 136; initialDepth = 2167.761996; finalDepth = 2167.462633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7406889999997 # Actual altitude: 68.7406889999997 # Commanded vehicle depth:2167.462633 # Seafloor depth:-2232.676794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.96; 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 = 274.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2232.761996 meters looking forward 200.000000 meters along route # Maximum depth: 2240.014175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.761996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937415; longitude = -129.101987; captureRadius = 10; duration = 136; initialDepth = 2169.034146; finalDepth = 2167.761996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9569669999996 # Actual altitude: 65.9569669999996 # Commanded vehicle depth:2167.761996 # Seafloor depth:-2233.718963 # behavior reson { duration = 6; 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 12 # Segment length 136.168175 meters # Minimum depth: 2234.034146 meters looking forward 200.000000 meters along route # Maximum depth: 2241.352822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2169.034146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936516; longitude = -129.102510; captureRadius = 10; duration = 136; initialDepth = 2172.710614; finalDepth = 2169.034146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4867600000002 # Actual altitude: 71.4867600000002 # Commanded vehicle depth:2169.034146 # Seafloor depth:-2240.520906 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.95; 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 = 285.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2237.710614 meters looking forward 200.000000 meters along route # Maximum depth: 2241.352822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.710614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935617; longitude = -129.103032; captureRadius = 10; duration = 136; initialDepth = 2168.968414; finalDepth = 2172.710614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4867600000002 # Actual altitude: 71.4867600000002 # Commanded vehicle depth:2172.710614 # Seafloor depth:-2240.630522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.95; 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 = 285.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2233.968414 meters looking forward 200.000000 meters along route # Maximum depth: 2240.037097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2168.968414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934750; longitude = -129.103536; captureRadius = 10; duration = 136; initialDepth = 2162.964508; finalDepth = 2168.968414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5054760000003 # Actual altitude: 68.5054760000003 # Commanded vehicle depth:2168.968414 # Seafloor depth:-2237.473890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.02; 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 = 274.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2227.964508 meters looking forward 200.000000 meters along route # Maximum depth: 2237.021052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2162.964508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933908; longitude = -129.104025; captureRadius = 10; duration = 136; initialDepth = 2162.422496; finalDepth = 2162.964508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2847929999998 # Actual altitude: 70.2847929999998 # Commanded vehicle depth:2162.964508 # Seafloor depth:-2233.249301 # behavior reson { duration = 6; 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 12 # Segment length 136.168175 meters # Minimum depth: 2227.422496 meters looking forward 200.000000 meters along route # Maximum depth: 2231.795229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2162.422496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933008; longitude = -129.104547; captureRadius = 10; duration = 136; initialDepth = 2162.473618; finalDepth = 2162.422496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2847929999998 # Actual altitude: 70.2847929999998 # Commanded vehicle depth:2162.422496 # Seafloor depth:-2227.642791 # behavior reson { duration = 6; 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 12 # Segment length 136.168175 meters # Minimum depth: 2227.473618 meters looking forward 200.000000 meters along route # Maximum depth: 2236.740916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2162.473618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932109; longitude = -129.105070; captureRadius = 10; duration = 136; initialDepth = 2167.572888; finalDepth = 2162.473618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5241580000002 # Actual altitude: 68.5241580000002 # Commanded vehicle depth:2162.473618 # Seafloor depth:-2230.997776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.10; 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 = 274.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2232.572888 meters looking forward 200.000000 meters along route # Maximum depth: 2242.721738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.572888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931210; longitude = -129.105592; captureRadius = 10; duration = 136; initialDepth = 2170.488052; finalDepth = 2167.572888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6712979999998 # Actual altitude: 69.6712979999998 # Commanded vehicle depth:2167.572888 # Seafloor depth:-2237.244186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.69; 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 = 278.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2235.488052 meters looking forward 200.000000 meters along route # Maximum depth: 2244.416317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2170.488052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930310; longitude = -129.106115; captureRadius = 10; duration = 136; initialDepth = 2170.488052; finalDepth = 2170.488052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.400079 # Actual altitude: 72.400079 # Commanded vehicle depth:2170.488052 # Seafloor depth:-2242.888131 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.60; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.48; MB_Bottom_Detect_Filter_Max_Range = 289.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2235.488052 meters looking forward 200.000000 meters along route # Maximum depth: 2245.888221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2170.488052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929451; longitude = -129.106614; captureRadius = 10; duration = 136; initialDepth = 2169.645549; finalDepth = 2170.488052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6481899999999 # Actual altitude: 74.6481899999999 # Commanded vehicle depth:2170.488052 # Seafloor depth:-2245.136242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 298.59; 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 = 298.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 136.168175 meters # Minimum depth: 2234.645549 meters looking forward 200.000000 meters along route # Maximum depth: 2245.888221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2169.645549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928601; longitude = -129.107107; captureRadius = 10; duration = 136; initialDepth = 2148.614733; finalDepth = 2169.645549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6481899999999 # Actual altitude: 74.6481899999999 # Commanded vehicle depth:2169.645549 # Seafloor depth:-2240.199517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 298.59; 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 = 298.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.59; 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 136.168175 meters # Minimum depth: 2213.614733 meters looking forward 200.000000 meters along route # Maximum depth: 2241.685730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2148.614733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927762; longitude = -129.107595; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2123.884138; finalDepth = 2148.614733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3488900000002 # Actual altitude: 85.3488900000002 # Commanded vehicle depth:2148.614733 # Seafloor depth:-2233.963623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 341.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 136.168175 meters # Minimum depth: 2188.884138 meters looking forward 200.000000 meters along route # Maximum depth: 2235.923846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.884138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927972; longitude = -129.108427; captureRadius = 10; duration = 136; initialDepth = 2119.413180; finalDepth = 2123.884138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 88.2999610000002 # Actual altitude: 88.2999610000002 # Commanded vehicle depth:2123.884138 # Seafloor depth:-2212.184099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 136.168175 meters # Minimum depth: 2184.413180 meters looking forward 200.000000 meters along route # Maximum depth: 2228.634352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.413180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928302; longitude = -129.109737; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2104.873883; finalDepth = 2119.413180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.2999610000002 # Actual altitude: 88.2999610000002 # Commanded vehicle depth:2119.41318 # Seafloor depth:-2187.747803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2169.873883 meters looking forward 200.000000 meters along route # Maximum depth: 2197.731218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.873883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928691; longitude = -129.109511; captureRadius = 10; duration = 136; initialDepth = 2074.293025; finalDepth = 2104.873883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1973719999996 # Actual altitude: 78.1973719999996 # Commanded vehicle depth:2104.873883 # Seafloor depth:-2183.071255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.79; 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 = 312.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2139.293025 meters looking forward 200.000000 meters along route # Maximum depth: 2181.597971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.293025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929591; longitude = -129.108988; captureRadius = 10; duration = 136; initialDepth = 2074.293025; finalDepth = 2074.293025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.4409000000001 # Actual altitude: 92.4409000000001 # Commanded vehicle depth:2074.293025 # Seafloor depth:-2166.733925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2139.293025 meters looking forward 200.000000 meters along route # Maximum depth: 2179.375085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.293025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930450; longitude = -129.108487; captureRadius = 10; duration = 136; initialDepth = 2104.689559; finalDepth = 2074.293025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.1990260000002 # Actual altitude: 99.1990260000002 # Commanded vehicle depth:2074.293025 # Seafloor depth:-2173.492051 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2174.350110 meters looking forward 200.000000 meters along route # Maximum depth: 2187.045382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.689559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931300; longitude = -129.107994; captureRadius = 10; duration = 136; initialDepth = 2116.753313; finalDepth = 2104.689559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.1990260000002 # Actual altitude: 99.1990260000002 # Commanded vehicle depth:2104.689559 # Seafloor depth:-2180.334578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2181.753313 meters looking forward 200.000000 meters along route # Maximum depth: 2190.749603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.753313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932199; longitude = -129.107471; captureRadius = 10; duration = 136; initialDepth = 2123.590754; finalDepth = 2116.753313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6450190000005 # Actual altitude: 75.6450190000005 # Commanded vehicle depth:2116.753313 # Seafloor depth:-2187.486317 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 302.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2188.590754 meters looking forward 200.000000 meters along route # Maximum depth: 2190.749603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.590754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933098; longitude = -129.106947; captureRadius = 10; duration = 136; initialDepth = 2123.797664; finalDepth = 2123.590754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7330039999997 # Actual altitude: 70.7330039999997 # Commanded vehicle depth:2123.590754 # Seafloor depth:-2188.590754 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.93; 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 = 282.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2188.797664 meters looking forward 200.000000 meters along route # Maximum depth: 2190.689927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.797664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933998; longitude = -129.106424; captureRadius = 10; duration = 136; initialDepth = 2123.797664; finalDepth = 2123.797664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7877549999998 # Actual altitude: 65.7877549999998 # Commanded vehicle depth:2123.797664 # Seafloor depth:-2189.585419 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.15; 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 = 263.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2188.797664 meters looking forward 200.000000 meters along route # Maximum depth: 2193.686062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.797664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934897; longitude = -129.105901; captureRadius = 10; duration = 136; initialDepth = 2127.060358; finalDepth = 2123.797664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.454534 # Actual altitude: 67.454534 # Commanded vehicle depth:2123.797664 # Seafloor depth:-2191.252198 # behavior reson { duration = 6; 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 10 # Segment length 136.168175 meters # Minimum depth: 2192.060358 meters looking forward 200.000000 meters along route # Maximum depth: 2193.686062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2127.060358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935797; longitude = -129.105378; captureRadius = 10; duration = 136; initialDepth = 2126.382066; finalDepth = 2127.060358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.454534 # Actual altitude: 67.454534 # Commanded vehicle depth:2127.060358 # Seafloor depth:-2193.093798 # behavior reson { duration = 6; 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 10 # Segment length 136.168175 meters # Minimum depth: 2191.382066 meters looking forward 200.000000 meters along route # Maximum depth: 2192.540301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.382066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936664; longitude = -129.104874; captureRadius = 10; duration = 136; initialDepth = 2124.169603; finalDepth = 2126.382066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0334399999997 # Actual altitude: 66.0334399999997 # Commanded vehicle depth:2126.382066 # Seafloor depth:-2192.154125 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.13; 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 = 264.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2189.169603 meters looking forward 200.000000 meters along route # Maximum depth: 2191.887226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.169603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937505; longitude = -129.104384; captureRadius = 10; duration = 136; initialDepth = 2120.922893; finalDepth = 2124.169603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9261850000003 # Actual altitude: 66.9261850000003 # Commanded vehicle depth:2124.169603 # Seafloor depth:-2191.095788 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.70; 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 = 267.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2185.922893 meters looking forward 200.000000 meters along route # Maximum depth: 2190.214374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.922893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938405; longitude = -129.103861; captureRadius = 10; duration = 136; initialDepth = 2120.370574; finalDepth = 2120.922893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2887880000003 # Actual altitude: 68.2887880000003 # Commanded vehicle depth:2120.922893 # Seafloor depth:-2189.211681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.16; 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 = 273.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2185.370574 meters looking forward 200.000000 meters along route # Maximum depth: 2188.831251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.370574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939304; longitude = -129.103338; captureRadius = 10; duration = 136; initialDepth = 2120.370574; finalDepth = 2120.370574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2887880000003 # Actual altitude: 68.2887880000003 # Commanded vehicle depth:2120.370574 # Seafloor depth:-2185.716211 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.16; 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 = 273.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2185.370574 meters looking forward 200.000000 meters along route # Maximum depth: 2186.233521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.370574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940204; longitude = -129.102815; captureRadius = 10; duration = 136; initialDepth = 2120.457428; finalDepth = 2120.370574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7886829999998 # Actual altitude: 65.7886829999998 # Commanded vehicle depth:2120.370574 # Seafloor depth:-2186.159257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.15; 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 = 263.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2185.457428 meters looking forward 200.000000 meters along route # Maximum depth: 2187.137017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.457428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941103; longitude = -129.102292; captureRadius = 10; duration = 136; initialDepth = 2120.527352; finalDepth = 2120.457428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7886829999998 # Actual altitude: 65.7886829999998 # Commanded vehicle depth:2120.457428 # Seafloor depth:-2185.457428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.15; 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 = 263.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2185.527352 meters looking forward 200.000000 meters along route # Maximum depth: 2187.137017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.527352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941956; longitude = -129.101796; captureRadius = 10; duration = 136; initialDepth = 2120.587440; finalDepth = 2120.527352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3190789999999 # Actual altitude: 66.3190789999999 # Commanded vehicle depth:2120.527352 # Seafloor depth:-2186.846431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.28; 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 = 265.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2185.587440 meters looking forward 200.000000 meters along route # Maximum depth: 2189.457933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.587440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942812; longitude = -129.101298; captureRadius = 10; duration = 136; initialDepth = 2121.078094; finalDepth = 2120.587440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3190789999999 # Actual altitude: 66.3190789999999 # Commanded vehicle depth:2120.58744 # Seafloor depth:-2185.681770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.28; 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 = 265.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2186.078094 meters looking forward 200.000000 meters along route # Maximum depth: 2194.077818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.078094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943711; longitude = -129.100775; captureRadius = 10; duration = 136; initialDepth = 2126.403041; finalDepth = 2121.078094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1370780000002 # Actual altitude: 69.1370780000002 # Commanded vehicle depth:2121.078094 # Seafloor depth:-2190.215172 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.55; 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 = 276.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2191.403041 meters looking forward 200.000000 meters along route # Maximum depth: 2201.300691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.403041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944611; longitude = -129.100252; captureRadius = 10; duration = 136; initialDepth = 2130.885618; finalDepth = 2126.403041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1370780000002 # Actual altitude: 69.1370780000002 # Commanded vehicle depth:2126.403041 # Seafloor depth:-2194.702631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.55; 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 = 276.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2195.885618 meters looking forward 200.000000 meters along route # Maximum depth: 2203.137203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.885618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945510; longitude = -129.099729; captureRadius = 10; duration = 136; initialDepth = 2135.147214; finalDepth = 2130.885618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2634250000001 # Actual altitude: 71.2634250000001 # Commanded vehicle depth:2130.885618 # Seafloor depth:-2202.149043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.05; 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 = 285.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2200.147214 meters looking forward 200.000000 meters along route # Maximum depth: 2203.137203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.147214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946410; longitude = -129.099206; captureRadius = 10; duration = 136; initialDepth = 2133.961024; finalDepth = 2135.147214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2634250000001 # Actual altitude: 71.2634250000001 # Commanded vehicle depth:2135.147214 # Seafloor depth:-2202.850181 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.05; 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 = 285.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2198.961024 meters looking forward 200.000000 meters along route # Maximum depth: 2202.294861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.961024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947309; longitude = -129.098683; captureRadius = 10; duration = 136; initialDepth = 2133.961024; finalDepth = 2133.961024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7029669999997 # Actual altitude: 67.7029669999997 # Commanded vehicle depth:2133.961024 # Seafloor depth:-2199.961824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.81; 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 = 270.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2198.961024 meters looking forward 200.000000 meters along route # Maximum depth: 2201.454446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.961024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948170; longitude = -129.098182; captureRadius = 10; duration = 136; initialDepth = 2135.148983; finalDepth = 2133.961024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7339259999999 # Actual altitude: 66.7339259999999 # Commanded vehicle depth:2133.961024 # Seafloor depth:-2200.694950 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.94; 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 = 266.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2200.148983 meters looking forward 200.000000 meters along route # Maximum depth: 2203.630965 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.148983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.097689; captureRadius = 10; duration = 136; initialDepth = 2135.376993; finalDepth = 2135.148983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7339259999999 # Actual altitude: 66.7339259999999 # Commanded vehicle depth:2135.148983 # Seafloor depth:-2200.148983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.94; 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 = 266.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2200.376993 meters looking forward 200.000000 meters along route # Maximum depth: 2205.362898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.376993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949917; longitude = -129.097166; captureRadius = 10; duration = 136; initialDepth = 2139.118288; finalDepth = 2135.376993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8432419999999 # Actual altitude: 68.8432419999999 # Commanded vehicle depth:2135.376993 # Seafloor depth:-2204.220235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.37; 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 = 275.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2204.118288 meters looking forward 200.000000 meters along route # Maximum depth: 2205.362898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2139.118288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950817; longitude = -129.096643; captureRadius = 10; duration = 136; initialDepth = 2139.118288; finalDepth = 2139.118288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8432419999999 # Actual altitude: 68.8432419999999 # Commanded vehicle depth:2139.118288 # Seafloor depth:-2204.135663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.37; 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 = 275.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2204.118288 meters looking forward 200.000000 meters along route # Maximum depth: 2206.472560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2139.118288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951716; longitude = -129.096120; captureRadius = 10; duration = 136; initialDepth = 2140.129615; finalDepth = 2139.118288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9070819999997 # Actual altitude: 65.9070819999997 # Commanded vehicle depth:2139.118288 # Seafloor depth:-2205.025370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.63; 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 = 263.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2205.129615 meters looking forward 200.000000 meters along route # Maximum depth: 2206.472560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2140.129615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952615; longitude = -129.095596; captureRadius = 10; duration = 136; initialDepth = 2139.869054; finalDepth = 2140.129615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1595170000001 # Actual altitude: 66.1595170000001 # Commanded vehicle depth:2140.129615 # Seafloor depth:-2206.289132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.64; 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 = 264.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2204.869054 meters looking forward 200.000000 meters along route # Maximum depth: 2206.160926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2139.869054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953515; longitude = -129.095073; captureRadius = 10; duration = 136; initialDepth = 2136.343141; finalDepth = 2139.869054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1595170000001 # Actual altitude: 66.1595170000001 # Commanded vehicle depth:2139.869054 # Seafloor depth:-2205.084781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.64; 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 = 264.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2201.343141 meters looking forward 200.000000 meters along route # Maximum depth: 2205.289653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2136.343141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954383; longitude = -129.094569; captureRadius = 10; duration = 136; initialDepth = 2134.209017; finalDepth = 2136.343141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3078860000001 # Actual altitude: 68.3078860000001 # Commanded vehicle depth:2136.343141 # Seafloor depth:-2204.651027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.23; 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 = 273.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2199.209017 meters looking forward 200.000000 meters along route # Maximum depth: 2204.088414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2134.209017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955224; longitude = -129.094080; captureRadius = 10; duration = 136; initialDepth = 2129.239138; finalDepth = 2134.209017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3078860000001 # Actual altitude: 68.3078860000001 # Commanded vehicle depth:2134.209017 # Seafloor depth:-2200.896408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.23; 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 = 273.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2194.239138 meters looking forward 200.000000 meters along route # Maximum depth: 2200.100825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.239138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956123; longitude = -129.093556; captureRadius = 10; duration = 136; initialDepth = 2122.542262; finalDepth = 2129.239138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6678919999999 # Actual altitude: 69.6678919999999 # Commanded vehicle depth:2129.239138 # Seafloor depth:-2198.907030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.67; 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 = 278.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2187.542262 meters looking forward 200.000000 meters along route # Maximum depth: 2198.037376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.542262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957022; longitude = -129.093033; captureRadius = 10; duration = 136; initialDepth = 2121.255445; finalDepth = 2122.542262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9989869999999 # Actual altitude: 70.9989869999999 # Commanded vehicle depth:2122.542262 # Seafloor depth:-2193.541249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.00; 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 = 284.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2186.255445 meters looking forward 200.000000 meters along route # Maximum depth: 2192.068942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.255445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957922; longitude = -129.092510; captureRadius = 10; duration = 136; initialDepth = 2121.255445; finalDepth = 2121.255445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9989869999999 # Actual altitude: 70.9989869999999 # Commanded vehicle depth:2121.255445 # Seafloor depth:-2187.012877 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.00; 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 = 284.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2186.255445 meters looking forward 200.000000 meters along route # Maximum depth: 2189.458064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.255445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958821; longitude = -129.091987; captureRadius = 10; duration = 136; initialDepth = 2122.079356; finalDepth = 2121.255445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7574320000003 # Actual altitude: 65.7574320000003 # Commanded vehicle depth:2121.255445 # Seafloor depth:-2186.919769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.03; 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 = 263.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2187.079356 meters looking forward 200.000000 meters along route # Maximum depth: 2191.435250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.079356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959676; longitude = -129.091490; captureRadius = 10; duration = 136; initialDepth = 2125.119883; finalDepth = 2122.079356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5109089999996 # Actual altitude: 67.5109089999996 # Commanded vehicle depth:2122.079356 # Seafloor depth:-2189.590265 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.04; 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 = 270.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2190.119883 meters looking forward 200.000000 meters along route # Maximum depth: 2191.959205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.119883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.090993; captureRadius = 10; duration = 136; initialDepth = 2126.442046; finalDepth = 2125.119883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5109089999996 # Actual altitude: 67.5109089999996 # Commanded vehicle depth:2125.119883 # Seafloor depth:-2191.558890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.04; 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 = 270.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2191.442046 meters looking forward 200.000000 meters along route # Maximum depth: 2191.959205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.442046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961430; longitude = -129.090470; captureRadius = 10; duration = 136; initialDepth = 2126.004333; finalDepth = 2126.442046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4390069999999 # Actual altitude: 66.4390069999999 # Commanded vehicle depth:2126.442046 # Seafloor depth:-2191.674767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.76; 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 = 265.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2191.004333 meters looking forward 200.000000 meters along route # Maximum depth: 2192.017737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.004333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962329; longitude = -129.089947; captureRadius = 10; duration = 136; initialDepth = 2123.717360; finalDepth = 2126.004333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.2327209999999 # Actual altitude: 65.2327209999999 # Commanded vehicle depth:2126.004333 # Seafloor depth:-2191.226216 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 260.93; 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 = 260.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2188.717360 meters looking forward 200.000000 meters along route # Maximum depth: 2192.110900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.717360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963228; longitude = -129.089424; captureRadius = 10; duration = 136; initialDepth = 2115.535200; finalDepth = 2123.717360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3153010000001 # Actual altitude: 68.3153010000001 # Commanded vehicle depth:2123.71736 # Seafloor depth:-2192.032661 # behavior reson { duration = 6; 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 136.168175 meters # Minimum depth: 2180.535200 meters looking forward 200.000000 meters along route # Maximum depth: 2192.107736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.535200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964128; longitude = -129.088901; captureRadius = 10; duration = 136; initialDepth = 2109.482856; finalDepth = 2115.535200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2402400000001 # Actual altitude: 72.2402400000001 # Commanded vehicle depth:2115.5352 # Seafloor depth:-2187.775440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.96; 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 = 288.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2174.482856 meters looking forward 200.000000 meters along route # Maximum depth: 2186.140787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.482856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965027; longitude = -129.088378; captureRadius = 10; duration = 136; initialDepth = 2108.984324; finalDepth = 2109.482856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2402400000001 # Actual altitude: 72.2402400000001 # Commanded vehicle depth:2109.482856 # Seafloor depth:-2180.017161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.96; 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 = 288.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2173.984324 meters looking forward 200.000000 meters along route # Maximum depth: 2178.456125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.984324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965927; longitude = -129.087855; captureRadius = 10; duration = 136; initialDepth = 2108.984324; finalDepth = 2108.984324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5343050000001 # Actual altitude: 70.5343050000001 # Commanded vehicle depth:2108.984324 # Seafloor depth:-2174.385468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.14; 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 = 282.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2173.984324 meters looking forward 200.000000 meters along route # Maximum depth: 2177.882243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.984324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966826; longitude = -129.087332; captureRadius = 10; duration = 136; initialDepth = 2111.626342; finalDepth = 2108.984324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8363880000002 # Actual altitude: 66.8363880000002 # Commanded vehicle depth:2108.984324 # Seafloor depth:-2175.820712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.35; 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 = 267.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2176.626342 meters looking forward 200.000000 meters along route # Maximum depth: 2180.851390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.626342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967730; longitude = -129.086806; captureRadius = 10; duration = 136; initialDepth = 2113.423554; finalDepth = 2111.626342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8363880000002 # Actual altitude: 66.8363880000002 # Commanded vehicle depth:2111.626342 # Seafloor depth:-2177.894285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.35; 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 = 267.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.168175 meters # Minimum depth: 2178.423554 meters looking forward 200.000000 meters along route # Maximum depth: 2182.391748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.423554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968650; longitude = -129.086271; captureRadius = 10; duration = 136; initialDepth = 2109.457417; finalDepth = 2113.423554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.471716 # Actual altitude: 67.471716 # Commanded vehicle depth:2113.423554 # Seafloor depth:-2180.895270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.89; 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 = 269.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.89; 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 136.168175 meters # Minimum depth: 2174.457417 meters looking forward 200.000000 meters along route # Maximum depth: 2182.410278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.457417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969494; longitude = -129.085780; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2103.101903; finalDepth = 2109.457417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9528609999998 # Actual altitude: 72.9528609999998 # Commanded vehicle depth:2109.457417 # Seafloor depth:-2182.410278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.59; MB_Bottom_Detect_Filter_Max_Range = 291.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 136.168175 meters # Minimum depth: 2168.101903 meters looking forward 200.000000 meters along route # Maximum depth: 2182.410278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.101903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969685; longitude = -129.086538; captureRadius = 10; duration = 136; initialDepth = 2102.898254; finalDepth = 2103.101903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 72.9528609999998 # Actual altitude: 72.9528609999998 # Commanded vehicle depth:2103.101903 # Seafloor depth:-2173.284494 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 291.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.59; MB_Bottom_Detect_Filter_Max_Range = 291.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 136.168175 meters # Minimum depth: 2167.898254 meters looking forward 200.000000 meters along route # Maximum depth: 2176.001039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.898254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970034; longitude = -129.087921; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2102.898254; finalDepth = 2102.898254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1825909999998 # Actual altitude: 70.1825909999998 # Commanded vehicle depth:2102.898254 # Seafloor depth:-2167.898254 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2167.898254 meters looking forward 200.000000 meters along route # Maximum depth: 2173.388461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.898254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969524; longitude = -129.088217; captureRadius = 10; duration = 136; initialDepth = 2106.453753; finalDepth = 2102.898254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.595675 # Actual altitude: 67.595675 # Commanded vehicle depth:2102.898254 # Seafloor depth:-2170.493929 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.38; 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 = 270.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2171.453753 meters looking forward 200.000000 meters along route # Maximum depth: 2175.372071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.453753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968625; longitude = -129.088741; captureRadius = 10; duration = 136; initialDepth = 2109.338435; finalDepth = 2106.453753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.595675 # Actual altitude: 67.595675 # Commanded vehicle depth:2106.453753 # Seafloor depth:-2173.843202 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.38; 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 = 270.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2174.338435 meters looking forward 200.000000 meters along route # Maximum depth: 2175.634805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.338435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967725; longitude = -129.089264; captureRadius = 10; duration = 136; initialDepth = 2109.573233; finalDepth = 2109.338435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3894490000002 # Actual altitude: 67.3894490000002 # Commanded vehicle depth:2109.338435 # Seafloor depth:-2174.381310 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2174.573233 meters looking forward 200.000000 meters along route # Maximum depth: 2178.499589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.573233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966826; longitude = -129.089787; captureRadius = 10; duration = 136; initialDepth = 2111.506371; finalDepth = 2109.573233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4145279999998 # Actual altitude: 66.4145279999998 # Commanded vehicle depth:2109.573233 # Seafloor depth:-2175.987761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.66; 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 = 265.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2176.506371 meters looking forward 200.000000 meters along route # Maximum depth: 2179.334743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.506371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965968; longitude = -129.090286; captureRadius = 10; duration = 136; initialDepth = 2112.134493; finalDepth = 2111.506371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0980669999999 # Actual altitude: 67.0980669999999 # Commanded vehicle depth:2111.506371 # Seafloor depth:-2178.604438 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.39; 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 = 268.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2177.134493 meters looking forward 200.000000 meters along route # Maximum depth: 2179.334743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.134493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965117; longitude = -129.090781; captureRadius = 10; duration = 136; initialDepth = 2110.927832; finalDepth = 2112.134493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0980669999999 # Actual altitude: 67.0980669999999 # Commanded vehicle depth:2112.134493 # Seafloor depth:-2179.079614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.39; 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 = 268.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2175.927832 meters looking forward 200.000000 meters along route # Maximum depth: 2179.132291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.927832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964218; longitude = -129.091304; captureRadius = 10; duration = 136; initialDepth = 2110.883229; finalDepth = 2110.927832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9451210000002 # Actual altitude: 66.9451210000002 # Commanded vehicle depth:2110.927832 # Seafloor depth:-2176.964401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.78; 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 = 267.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2175.883229 meters looking forward 200.000000 meters along route # Maximum depth: 2178.696695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.883229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963318; longitude = -129.091827; captureRadius = 10; duration = 136; initialDepth = 2110.883229; finalDepth = 2110.883229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0365690000003 # Actual altitude: 66.0365690000003 # Commanded vehicle depth:2110.883229 # Seafloor depth:-2175.897275 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.15; 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 = 264.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2175.883229 meters looking forward 200.000000 meters along route # Maximum depth: 2181.542101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.883229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962419; longitude = -129.092350; captureRadius = 10; duration = 136; initialDepth = 2113.774378; finalDepth = 2110.883229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9136239999998 # Actual altitude: 67.9136239999998 # Commanded vehicle depth:2110.883229 # Seafloor depth:-2178.796853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.65; 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 = 271.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2178.774378 meters looking forward 200.000000 meters along route # Maximum depth: 2184.136227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.774378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961520; longitude = -129.092873; captureRadius = 10; duration = 136; initialDepth = 2116.783584; finalDepth = 2113.774378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9136239999998 # Actual altitude: 67.9136239999998 # Commanded vehicle depth:2113.774378 # Seafloor depth:-2181.675802 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.65; 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 = 271.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2181.783584 meters looking forward 200.000000 meters along route # Maximum depth: 2185.812534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.783584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960620; longitude = -129.093396; captureRadius = 10; duration = 136; initialDepth = 2119.436818; finalDepth = 2116.783584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9014240000001 # Actual altitude: 67.9014240000001 # Commanded vehicle depth:2116.783584 # Seafloor depth:-2184.240132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.61; 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 = 271.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2184.436818 meters looking forward 200.000000 meters along route # Maximum depth: 2186.531660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.436818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959754; longitude = -129.093899; captureRadius = 10; duration = 136; initialDepth = 2120.127633; finalDepth = 2119.436818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4565480000001 # Actual altitude: 67.4565480000001 # Commanded vehicle depth:2119.436818 # Seafloor depth:-2185.634058 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2185.127633 meters looking forward 200.000000 meters along route # Maximum depth: 2187.534432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.127633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958911; longitude = -129.094390; captureRadius = 10; duration = 136; initialDepth = 2116.685946; finalDepth = 2120.127633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7595929999998 # Actual altitude: 66.7595929999998 # Commanded vehicle depth:2120.127633 # Seafloor depth:-2186.887226 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2181.685946 meters looking forward 200.000000 meters along route # Maximum depth: 2187.534432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.685946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958012; longitude = -129.094913; captureRadius = 10; duration = 136; initialDepth = 2111.978224; finalDepth = 2116.685946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2139299999999 # Actual altitude: 69.2139299999999 # Commanded vehicle depth:2116.685946 # Seafloor depth:-2185.899876 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2176.978224 meters looking forward 200.000000 meters along route # Maximum depth: 2185.046388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.978224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957112; longitude = -129.095436; captureRadius = 10; duration = 136; initialDepth = 2109.540074; finalDepth = 2111.978224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2566580000002 # Actual altitude: 69.2566580000002 # Commanded vehicle depth:2111.978224 # Seafloor depth:-2181.234882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.03; 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 = 277.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2174.540074 meters looking forward 200.000000 meters along route # Maximum depth: 2180.258272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.540074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956213; longitude = -129.095959; captureRadius = 10; duration = 136; initialDepth = 2107.827219; finalDepth = 2109.540074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2566580000002 # Actual altitude: 69.2566580000002 # Commanded vehicle depth:2109.540074 # Seafloor depth:-2176.487564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.03; 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 = 277.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2172.827219 meters looking forward 200.000000 meters along route # Maximum depth: 2176.143325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2107.827219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955314; longitude = -129.096482; captureRadius = 10; duration = 136; initialDepth = 2104.676846; finalDepth = 2107.827219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.94749 # Actual altitude: 66.94749 # Commanded vehicle depth:2107.827219 # Seafloor depth:-2174.610384 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2169.676846 meters looking forward 200.000000 meters along route # Maximum depth: 2174.672668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.676846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954462; longitude = -129.096978; captureRadius = 10; duration = 136; initialDepth = 2102.321825; finalDepth = 2104.676846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9800400000004 # Actual altitude: 67.9800400000004 # Commanded vehicle depth:2104.676846 # Seafloor depth:-2172.656886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.92; 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 = 271.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2167.321825 meters looking forward 200.000000 meters along route # Maximum depth: 2172.192611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.321825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953605; longitude = -129.097476; captureRadius = 10; duration = 136; initialDepth = 2102.321825; finalDepth = 2102.321825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9800400000004 # Actual altitude: 67.9800400000004 # Commanded vehicle depth:2102.321825 # Seafloor depth:-2169.110358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.92; 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 = 271.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2167.321825 meters looking forward 200.000000 meters along route # Maximum depth: 2173.573795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.321825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952705; longitude = -129.097999; captureRadius = 10; duration = 136; initialDepth = 2103.761536; finalDepth = 2102.321825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7885329999999 # Actual altitude: 66.7885329999999 # Commanded vehicle depth:2102.321825 # Seafloor depth:-2167.896297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.15; 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 = 267.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2168.761536 meters looking forward 200.000000 meters along route # Maximum depth: 2175.391129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.761536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951806; longitude = -129.098522; captureRadius = 10; duration = 136; initialDepth = 2108.053366; finalDepth = 2103.761536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2350270000002 # Actual altitude: 70.2350270000002 # Commanded vehicle depth:2103.761536 # Seafloor depth:-2173.996563 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.94; 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 = 280.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2173.053366 meters looking forward 200.000000 meters along route # Maximum depth: 2175.404199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.053366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950907; longitude = -129.099045; captureRadius = 10; duration = 136; initialDepth = 2090.724405; finalDepth = 2108.053366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2350270000002 # Actual altitude: 70.2350270000002 # Commanded vehicle depth:2108.053366 # Seafloor depth:-2175.387358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.94; 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 = 280.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2155.724405 meters looking forward 200.000000 meters along route # Maximum depth: 2175.339519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.724405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950007; longitude = -129.099568; captureRadius = 10; duration = 136; initialDepth = 2080.701536; finalDepth = 2090.724405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4256810000002 # Actual altitude: 81.4256810000002 # Commanded vehicle depth:2090.724405 # Seafloor depth:-2172.150086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.29; MB_Bottom_Detect_Filter_Max_Range = 325.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2145.701536 meters looking forward 200.000000 meters along route # Maximum depth: 2170.891210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.701536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949108; longitude = -129.100091; captureRadius = 10; duration = 136; initialDepth = 2080.177660; finalDepth = 2080.701536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4256810000002 # Actual altitude: 81.4256810000002 # Commanded vehicle depth:2080.701536 # Seafloor depth:-2154.768970 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.29; MB_Bottom_Detect_Filter_Max_Range = 325.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2145.177660 meters looking forward 200.000000 meters along route # Maximum depth: 2153.598346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.177660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948248; longitude = -129.100591; captureRadius = 10; duration = 136; initialDepth = 2079.818348; finalDepth = 2080.177660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.067434 # Actual altitude: 74.067434 # Commanded vehicle depth:2080.17766 # Seafloor depth:-2145.543027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 296.27; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.81; MB_Bottom_Detect_Filter_Max_Range = 296.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2144.818348 meters looking forward 200.000000 meters along route # Maximum depth: 2145.790389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.818348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947399; longitude = -129.101085; captureRadius = 10; duration = 136; initialDepth = 2079.818348; finalDepth = 2079.818348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3653670000003 # Actual altitude: 65.3653670000003 # Commanded vehicle depth:2079.818348 # Seafloor depth:-2145.116449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.46; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.07; MB_Bottom_Detect_Filter_Max_Range = 261.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2144.818348 meters looking forward 200.000000 meters along route # Maximum depth: 2149.400665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.818348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946499; longitude = -129.101608; captureRadius = 10; duration = 136; initialDepth = 2082.400033; finalDepth = 2079.818348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2811610000003 # Actual altitude: 66.2811610000003 # Commanded vehicle depth:2079.818348 # Seafloor depth:-2146.099509 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.12; 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 = 265.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2147.400033 meters looking forward 200.000000 meters along route # Maximum depth: 2151.935073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.400033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945600; longitude = -129.102131; captureRadius = 10; duration = 136; initialDepth = 2083.368465; finalDepth = 2082.400033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2944120000002 # Actual altitude: 66.2944120000002 # Commanded vehicle depth:2082.400033 # Seafloor depth:-2148.694445 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2148.368465 meters looking forward 200.000000 meters along route # Maximum depth: 2152.772001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.368465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944701; longitude = -129.102654; captureRadius = 10; duration = 136; initialDepth = 2086.421092; finalDepth = 2083.368465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.960744 # Actual altitude: 68.960744 # Commanded vehicle depth:2083.368465 # Seafloor depth:-2152.329209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.84; 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 = 275.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2151.421092 meters looking forward 200.000000 meters along route # Maximum depth: 2160.424181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.421092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943801; longitude = -129.103177; captureRadius = 10; duration = 136; initialDepth = 2090.459973; finalDepth = 2086.421092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.960744 # Actual altitude: 68.960744 # Commanded vehicle depth:2086.421092 # Seafloor depth:-2153.221070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.84; 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 = 275.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2155.459973 meters looking forward 200.000000 meters along route # Maximum depth: 2162.858654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.459973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942902; longitude = -129.103701; captureRadius = 10; duration = 136; initialDepth = 2095.635333; finalDepth = 2090.459973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.100586 # Actual altitude: 70.100586 # Commanded vehicle depth:2090.459973 # Seafloor depth:-2160.560559 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.40; 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 = 280.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2160.635333 meters looking forward 200.000000 meters along route # Maximum depth: 2169.291886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.635333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942035; longitude = -129.104205; captureRadius = 10; duration = 136; initialDepth = 2099.006178; finalDepth = 2095.635333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.100586 # Actual altitude: 70.100586 # Commanded vehicle depth:2095.635333 # Seafloor depth:-2163.190819 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.40; 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 = 280.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2164.006178 meters looking forward 200.000000 meters along route # Maximum depth: 2173.491181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.006178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941193; longitude = -129.104694; captureRadius = 10; duration = 136; initialDepth = 2105.177570; finalDepth = 2099.006178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6253389999997 # Actual altitude: 70.6253389999997 # Commanded vehicle depth:2099.006178 # Seafloor depth:-2169.631517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.50; 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 = 282.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2170.177570 meters looking forward 200.000000 meters along route # Maximum depth: 2180.369800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.177570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940294; longitude = -129.105217; captureRadius = 10; duration = 136; initialDepth = 2110.940452; finalDepth = 2105.177570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6253389999997 # Actual altitude: 70.6253389999997 # Commanded vehicle depth:2105.17757 # Seafloor depth:-2174.250802 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.50; 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 = 282.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2175.940452 meters looking forward 200.000000 meters along route # Maximum depth: 2182.149102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.940452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939394; longitude = -129.105740; captureRadius = 10; duration = 136; initialDepth = 2115.288393; finalDepth = 2110.940452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6631480000001 # Actual altitude: 69.6631480000001 # Commanded vehicle depth:2110.940452 # Seafloor depth:-2180.603600 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.65; 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 = 278.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2180.288393 meters looking forward 200.000000 meters along route # Maximum depth: 2182.604891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.288393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938495; longitude = -129.106264; captureRadius = 10; duration = 136; initialDepth = 2109.033829; finalDepth = 2115.288393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6631480000001 # Actual altitude: 69.6631480000001 # Commanded vehicle depth:2115.288393 # Seafloor depth:-2182.264380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.65; 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 = 278.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2174.033829 meters looking forward 200.000000 meters along route # Maximum depth: 2182.604891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.033829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937595; longitude = -129.106787; captureRadius = 10; duration = 136; initialDepth = 2105.338415; finalDepth = 2109.033829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.733839 # Actual altitude: 70.733839 # Commanded vehicle depth:2109.033829 # Seafloor depth:-2179.767668 # behavior reson { duration = 6; 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 136.168175 meters # Minimum depth: 2170.338415 meters looking forward 200.000000 meters along route # Maximum depth: 2179.000496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.338415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936742; longitude = -129.107283; captureRadius = 10; duration = 136; initialDepth = 2102.349938; finalDepth = 2105.338415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.733839 # Actual altitude: 70.733839 # Commanded vehicle depth:2105.338415 # Seafloor depth:-2173.873339 # behavior reson { duration = 6; 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 136.168175 meters # Minimum depth: 2167.349938 meters looking forward 200.000000 meters along route # Maximum depth: 2173.346503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.349938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935886; longitude = -129.107780; captureRadius = 10; duration = 136; initialDepth = 2102.349938; finalDepth = 2102.349938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.534924 # Actual altitude: 68.534924 # Commanded vehicle depth:2102.349938 # Seafloor depth:-2169.579549 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 274.14; 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 = 274.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2167.349938 meters looking forward 200.000000 meters along route # Maximum depth: 2170.194124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.349938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934987; longitude = -129.108304; captureRadius = 10; duration = 136; initialDepth = 2103.411630; finalDepth = 2102.349938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2296110000002 # Actual altitude: 67.2296110000002 # Commanded vehicle depth:2102.349938 # Seafloor depth:-2168.534233 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2168.411630 meters looking forward 200.000000 meters along route # Maximum depth: 2171.851739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.411630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934088; longitude = -129.108827; captureRadius = 10; duration = 136; initialDepth = 2105.881147; finalDepth = 2103.411630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0304219999998 # Actual altitude: 67.0304219999998 # Commanded vehicle depth:2103.41163 # Seafloor depth:-2170.442052 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2170.881147 meters looking forward 200.000000 meters along route # Maximum depth: 2178.436637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.881147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933188; longitude = -129.109350; captureRadius = 10; duration = 136; initialDepth = 2108.716172; finalDepth = 2105.881147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0304219999998 # Actual altitude: 67.0304219999998 # Commanded vehicle depth:2105.881147 # Seafloor depth:-2172.358434 # behavior reson { duration = 6; 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 8 # Segment length 136.168175 meters # Minimum depth: 2173.716172 meters looking forward 200.000000 meters along route # Maximum depth: 2184.118820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.716172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932289; longitude = -129.109873; captureRadius = 10; duration = 136; initialDepth = 2114.421506; finalDepth = 2108.716172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4131540000003 # Actual altitude: 70.4131540000003 # Commanded vehicle depth:2108.716172 # Seafloor depth:-2179.129326 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.65; 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 = 281.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2179.421506 meters looking forward 200.000000 meters along route # Maximum depth: 2184.834239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.421506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.110396; captureRadius = 10; duration = 136; initialDepth = 2110.672099; finalDepth = 2114.421506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4131540000003 # Actual altitude: 70.4131540000003 # Commanded vehicle depth:2114.421506 # Seafloor depth:-2184.466770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.65; 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 = 281.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2175.672099 meters looking forward 200.000000 meters along route # Maximum depth: 2184.834239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.672099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930529; longitude = -129.110897; captureRadius = 10; duration = 136; initialDepth = 2110.667891; finalDepth = 2110.672099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0452639999999 # Actual altitude: 70.0452639999999 # Commanded vehicle depth:2110.672099 # Seafloor depth:-2179.482935 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.18; 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 = 280.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 136.168175 meters # Minimum depth: 2175.667891 meters looking forward 200.000000 meters along route # Maximum depth: 2179.539600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.667891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929681; longitude = -129.111390; captureRadius = 10; duration = 136; initialDepth = 2110.667891; finalDepth = 2110.667891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8108360000001 # Actual altitude: 68.8108360000001 # Commanded vehicle depth:2110.667891 # Seafloor depth:-2175.667891 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.76; MB_Bottom_Detect_Filter_Max_Range = 275.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.24; 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 136.168175 meters # Minimum depth: 2175.667891 meters looking forward 200.000000 meters along route # Maximum depth: 2189.861031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.667891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928841; longitude = -129.111878; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2092.068816; finalDepth = 2110.667891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7663739999998 # Actual altitude: 68.7663739999998 # Commanded vehicle depth:2110.667891 # Seafloor depth:-2179.434265 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.07; 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 = 275.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 136.168175 meters # Minimum depth: 2157.068816 meters looking forward 200.000000 meters along route # Maximum depth: 2189.926290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.068816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929063; longitude = -129.112636; captureRadius = 10; duration = 136; initialDepth = 2088.390186; finalDepth = 2092.068816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.8574739999999 # Actual altitude: 97.8574739999999 # Commanded vehicle depth:2092.068816 # Seafloor depth:-2189.926290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 136.168175 meters # Minimum depth: 2153.390186 meters looking forward 200.000000 meters along route # Maximum depth: 2189.926290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.390186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929441; longitude = -129.113930; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2088.390186; finalDepth = 2088.390186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.8574739999999 # Actual altitude: 97.8574739999999 # Commanded vehicle depth:2088.390186 # Seafloor depth:-2153.696594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2153.390186 meters looking forward 200.000000 meters along route # Maximum depth: 2169.263557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.390186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929950; longitude = -129.113634; captureRadius = 10; duration = 136; initialDepth = 2090.905417; finalDepth = 2088.390186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6602459999999 # Actual altitude: 66.6602459999999 # Commanded vehicle depth:2088.390186 # Seafloor depth:-2155.050432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.64; 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 = 266.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2155.905417 meters looking forward 200.000000 meters along route # Maximum depth: 2158.765897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.905417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930850; longitude = -129.113111; captureRadius = 10; duration = 136; initialDepth = 2089.787732; finalDepth = 2090.905417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.480102 # Actual altitude: 67.480102 # Commanded vehicle depth:2090.905417 # Seafloor depth:-2158.385519 # behavior reson { duration = 6; 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 6 # Segment length 136.168175 meters # Minimum depth: 2154.787732 meters looking forward 200.000000 meters along route # Maximum depth: 2158.214182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.787732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931749; longitude = -129.112588; captureRadius = 10; duration = 136; initialDepth = 2086.541316; finalDepth = 2089.787732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.480102 # Actual altitude: 67.480102 # Commanded vehicle depth:2089.787732 # Seafloor depth:-2155.955396 # behavior reson { duration = 6; 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 6 # Segment length 136.168175 meters # Minimum depth: 2151.541316 meters looking forward 200.000000 meters along route # Maximum depth: 2156.106665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.541316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932649; longitude = -129.112065; captureRadius = 10; duration = 136; initialDepth = 2082.145856; finalDepth = 2086.541316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9936510000002 # Actual altitude: 67.9936510000002 # Commanded vehicle depth:2086.541316 # Seafloor depth:-2154.534967 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.97; 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 = 271.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2147.145856 meters looking forward 200.000000 meters along route # Maximum depth: 2153.917614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.145856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933506; longitude = -129.111566; captureRadius = 10; duration = 136; initialDepth = 2079.909173; finalDepth = 2082.145856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4866360000001 # Actual altitude: 69.4866360000001 # Commanded vehicle depth:2082.145856 # Seafloor depth:-2151.632492 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.95; 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 = 277.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2144.909173 meters looking forward 200.000000 meters along route # Maximum depth: 2151.566385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.909173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934358; longitude = -129.111071; captureRadius = 10; duration = 136; initialDepth = 2072.458539; finalDepth = 2079.909173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4866360000001 # Actual altitude: 69.4866360000001 # Commanded vehicle depth:2079.909173 # Seafloor depth:-2146.645705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.95; 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 = 277.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2137.458539 meters looking forward 200.000000 meters along route # Maximum depth: 2145.726319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.458539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935257; longitude = -129.110548; captureRadius = 10; duration = 136; initialDepth = 2065.634980; finalDepth = 2072.458539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1522269999996 # Actual altitude: 72.1522269999996 # Commanded vehicle depth:2072.458539 # Seafloor depth:-2144.610766 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.43; MB_Bottom_Detect_Filter_Max_Range = 288.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2130.634980 meters looking forward 200.000000 meters along route # Maximum depth: 2143.480205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.634980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936156; longitude = -129.110025; captureRadius = 10; duration = 136; initialDepth = 2065.353605; finalDepth = 2065.634980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1522269999996 # Actual altitude: 72.1522269999996 # Commanded vehicle depth:2065.63498 # Seafloor depth:-2136.462045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 288.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.43; MB_Bottom_Detect_Filter_Max_Range = 288.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2130.353605 meters looking forward 200.000000 meters along route # Maximum depth: 2134.783340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.353605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937056; longitude = -129.109502; captureRadius = 10; duration = 136; initialDepth = 2065.365676; finalDepth = 2065.353605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8270650000004 # Actual altitude: 70.8270650000004 # Commanded vehicle depth:2065.353605 # Seafloor depth:-2130.411285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.31; 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 = 283.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2130.365676 meters looking forward 200.000000 meters along route # Maximum depth: 2140.951868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.365676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937955; longitude = -129.108978; captureRadius = 10; duration = 136; initialDepth = 2071.500626; finalDepth = 2065.365676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.234629 # Actual altitude: 70.234629 # Commanded vehicle depth:2065.365676 # Seafloor depth:-2135.600305 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.94; 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 = 280.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2136.500626 meters looking forward 200.000000 meters along route # Maximum depth: 2140.951868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2071.500626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938855; longitude = -129.108455; captureRadius = 10; duration = 136; initialDepth = 2074.371592; finalDepth = 2071.500626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.234629 # Actual altitude: 70.234629 # Commanded vehicle depth:2071.500626 # Seafloor depth:-2140.855422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.94; 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 = 280.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2139.371592 meters looking forward 200.000000 meters along route # Maximum depth: 2147.853449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.371592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939720; longitude = -129.107952; captureRadius = 10; duration = 136; initialDepth = 2074.683991; finalDepth = 2074.371592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3547960000001 # Actual altitude: 69.3547960000001 # Commanded vehicle depth:2074.371592 # Seafloor depth:-2139.371592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.42; 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 = 277.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2139.683991 meters looking forward 200.000000 meters along route # Maximum depth: 2157.453376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.683991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940563; longitude = -129.107462; captureRadius = 10; duration = 136; initialDepth = 2086.294774; finalDepth = 2074.683991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.5132790000002 # Actual altitude: 74.5132790000002 # Commanded vehicle depth:2074.683991 # Seafloor depth:-2149.197270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 298.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.90; MB_Bottom_Detect_Filter_Max_Range = 298.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2151.294774 meters looking forward 200.000000 meters along route # Maximum depth: 2163.738982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.294774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941463; longitude = -129.106938; captureRadius = 10; duration = 136; initialDepth = 2094.185268; finalDepth = 2086.294774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.5132790000002 # Actual altitude: 74.5132790000002 # Commanded vehicle depth:2086.294774 # Seafloor depth:-2158.127083 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 298.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.90; MB_Bottom_Detect_Filter_Max_Range = 298.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2159.185268 meters looking forward 200.000000 meters along route # Maximum depth: 2164.423404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.185268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942362; longitude = -129.106415; captureRadius = 10; duration = 136; initialDepth = 2083.693402; finalDepth = 2094.185268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8323089999999 # Actual altitude: 71.8323089999999 # Commanded vehicle depth:2094.185268 # Seafloor depth:-2164.191593 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.33; 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 = 287.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2148.693402 meters looking forward 200.000000 meters along route # Maximum depth: 2164.363342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.693402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943262; longitude = -129.105892; captureRadius = 10; duration = 136; initialDepth = 2078.115113; finalDepth = 2083.693402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.407674 # Actual altitude: 74.407674 # Commanded vehicle depth:2083.693402 # Seafloor depth:-2158.101076 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2143.115113 meters looking forward 200.000000 meters along route # Maximum depth: 2157.007475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.115113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944161; longitude = -129.105369; captureRadius = 10; duration = 136; initialDepth = 2075.017484; finalDepth = 2078.115113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.407674 # Actual altitude: 74.407674 # Commanded vehicle depth:2078.115113 # Seafloor depth:-2148.223809 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.88; MB_Bottom_Detect_Filter_Max_Range = 297.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2140.017484 meters looking forward 200.000000 meters along route # Maximum depth: 2147.547424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.017484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945013; longitude = -129.104874; captureRadius = 10; duration = 136; initialDepth = 2065.910789; finalDepth = 2075.017484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1086960000002 # Actual altitude: 70.1086960000002 # Commanded vehicle depth:2075.017484 # Seafloor depth:-2142.753299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.43; 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 = 280.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2130.910789 meters looking forward 200.000000 meters along route # Maximum depth: 2141.712824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.910789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945870; longitude = -129.104375; captureRadius = 10; duration = 136; initialDepth = 2055.350711; finalDepth = 2065.910789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.5555039999999 # Actual altitude: 73.5555039999999 # Commanded vehicle depth:2065.910789 # Seafloor depth:-2139.466293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 294.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.71; MB_Bottom_Detect_Filter_Max_Range = 294.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2120.350711 meters looking forward 200.000000 meters along route # Maximum depth: 2137.887819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.350711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946769; longitude = -129.103852; captureRadius = 10; duration = 136; initialDepth = 2051.607260; finalDepth = 2055.350711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1705689999999 # Actual altitude: 74.1705689999999 # Commanded vehicle depth:2055.350711 # Seafloor depth:-2129.521280 # behavior reson { duration = 6; 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 6 # Segment length 136.168175 meters # Minimum depth: 2116.607260 meters looking forward 200.000000 meters along route # Maximum depth: 2127.362992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.607260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947669; longitude = -129.103329; captureRadius = 10; duration = 136; initialDepth = 2045.972533; finalDepth = 2051.607260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1705689999999 # Actual altitude: 74.1705689999999 # Commanded vehicle depth:2051.60726 # Seafloor depth:-2119.018462 # behavior reson { duration = 6; 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 6 # Segment length 136.168175 meters # Minimum depth: 2110.972533 meters looking forward 200.000000 meters along route # Maximum depth: 2117.466184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.972533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.102806; captureRadius = 10; duration = 136; initialDepth = 2039.668204; finalDepth = 2045.972533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8573550000001 # Actual altitude: 70.8573550000001 # Commanded vehicle depth:2045.972533 # Seafloor depth:-2116.829888 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 283.43; 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 = 283.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2104.668204 meters looking forward 200.000000 meters along route # Maximum depth: 2115.775717 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2039.668204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949467; longitude = -129.102283; captureRadius = 10; duration = 136; initialDepth = 2039.206014; finalDepth = 2039.668204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2593419999998 # Actual altitude: 71.2593419999998 # Commanded vehicle depth:2039.668204 # Seafloor depth:-2110.927546 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.04; 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 = 285.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2104.206014 meters looking forward 200.000000 meters along route # Maximum depth: 2110.812473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2039.206014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950367; longitude = -129.101760; captureRadius = 10; duration = 136; initialDepth = 2039.206014; finalDepth = 2039.206014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2593419999998 # Actual altitude: 71.2593419999998 # Commanded vehicle depth:2039.206014 # Seafloor depth:-2104.435223 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.04; 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 = 285.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2104.206014 meters looking forward 200.000000 meters along route # Maximum depth: 2114.009849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2039.206014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951226; longitude = -129.101260; captureRadius = 10; duration = 136; initialDepth = 2044.577298; finalDepth = 2039.206014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3014130000001 # Actual altitude: 69.3014130000001 # Commanded vehicle depth:2039.206014 # Seafloor depth:-2108.507427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.21; 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 = 277.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2109.577298 meters looking forward 200.000000 meters along route # Maximum depth: 2128.768686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.577298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952076; longitude = -129.100766; captureRadius = 10; duration = 136; initialDepth = 2053.038252; finalDepth = 2044.577298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.628541 # Actual altitude: 70.628541 # Commanded vehicle depth:2044.577298 # Seafloor depth:-2115.205839 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 282.51; 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 = 282.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2118.038252 meters looking forward 200.000000 meters along route # Maximum depth: 2137.772357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.038252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952975; longitude = -129.100243; captureRadius = 10; duration = 136; initialDepth = 2068.072258; finalDepth = 2053.038252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.297634 # Actual altitude: 77.297634 # Commanded vehicle depth:2053.038252 # Seafloor depth:-2130.335886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.19; 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 = 309.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2133.072258 meters looking forward 200.000000 meters along route # Maximum depth: 2137.772357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.072258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953875; longitude = -129.099720; captureRadius = 10; duration = 136; initialDepth = 2067.795895; finalDepth = 2068.072258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.297634 # Actual altitude: 77.297634 # Commanded vehicle depth:2068.072258 # Seafloor depth:-2136.154614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.19; 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 = 309.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2132.795895 meters looking forward 200.000000 meters along route # Maximum depth: 2136.330319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.795895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.099197; captureRadius = 10; duration = 136; initialDepth = 2067.801551; finalDepth = 2067.795895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0823559999999 # Actual altitude: 68.0823559999999 # Commanded vehicle depth:2067.795895 # Seafloor depth:-2132.901366 # behavior reson { duration = 6; 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 6 # Segment length 136.168175 meters # Minimum depth: 2132.801551 meters looking forward 200.000000 meters along route # Maximum depth: 2141.901419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.801551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.098674; captureRadius = 10; duration = 136; initialDepth = 2072.857466; finalDepth = 2067.801551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9773150000001 # Actual altitude: 68.9773150000001 # Commanded vehicle depth:2067.801551 # Seafloor depth:-2136.778866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.91; 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 = 275.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2137.857466 meters looking forward 200.000000 meters along route # Maximum depth: 2145.286515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.857466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.098151; captureRadius = 10; duration = 136; initialDepth = 2077.837561; finalDepth = 2072.857466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3332289999998 # Actual altitude: 69.3332289999998 # Commanded vehicle depth:2072.857466 # Seafloor depth:-2142.190695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.33; 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 = 277.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2142.837561 meters looking forward 200.000000 meters along route # Maximum depth: 2149.938873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.837561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957440; longitude = -129.097647; captureRadius = 10; duration = 136; initialDepth = 2080.853530; finalDepth = 2077.837561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3332289999998 # Actual altitude: 69.3332289999998 # Commanded vehicle depth:2077.837561 # Seafloor depth:-2145.477190 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.33; 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 = 277.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2145.853530 meters looking forward 200.000000 meters along route # Maximum depth: 2155.222367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.853530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958282; longitude = -129.097157; captureRadius = 10; duration = 136; initialDepth = 2085.245273; finalDepth = 2080.853530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.428351 # Actual altitude: 69.428351 # Commanded vehicle depth:2080.85353 # Seafloor depth:-2150.281881 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.71; 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 = 277.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2150.245273 meters looking forward 200.000000 meters along route # Maximum depth: 2155.455939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.245273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959181; longitude = -129.096634; captureRadius = 10; duration = 136; initialDepth = 2083.914909; finalDepth = 2085.245273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2106659999999 # Actual altitude: 70.2106659999999 # Commanded vehicle depth:2085.245273 # Seafloor depth:-2155.455939 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.84; 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 = 280.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2148.914909 meters looking forward 200.000000 meters along route # Maximum depth: 2154.625691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.914909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960080; longitude = -129.096111; captureRadius = 10; duration = 136; initialDepth = 2080.262444; finalDepth = 2083.914909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2106659999999 # Actual altitude: 70.2106659999999 # Commanded vehicle depth:2083.914909 # Seafloor depth:-2149.931935 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.84; 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 = 280.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2145.262444 meters looking forward 200.000000 meters along route # Maximum depth: 2149.531818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.262444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960980; longitude = -129.095588; captureRadius = 10; duration = 136; initialDepth = 2080.124643; finalDepth = 2080.262444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.991145 # Actual altitude: 68.991145 # Commanded vehicle depth:2080.262444 # Seafloor depth:-2149.253589 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.96; 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 = 275.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2145.124643 meters looking forward 200.000000 meters along route # Maximum depth: 2148.963141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.124643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.095065; captureRadius = 10; duration = 136; initialDepth = 2079.413351; finalDepth = 2080.124643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.991145 # Actual altitude: 68.991145 # Commanded vehicle depth:2080.124643 # Seafloor depth:-2145.214204 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.96; 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 = 275.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2144.413351 meters looking forward 200.000000 meters along route # Maximum depth: 2146.125183 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.413351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962733; longitude = -129.094569; captureRadius = 10; duration = 136; initialDepth = 2079.282898; finalDepth = 2079.413351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4353149999997 # Actual altitude: 66.4353149999997 # Commanded vehicle depth:2079.413351 # Seafloor depth:-2145.848666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.74; 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 = 265.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2144.282898 meters looking forward 200.000000 meters along route # Maximum depth: 2145.533686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.282898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963588; longitude = -129.094071; captureRadius = 10; duration = 136; initialDepth = 2079.282898; finalDepth = 2079.282898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4353149999997 # Actual altitude: 66.4353149999997 # Commanded vehicle depth:2079.282898 # Seafloor depth:-2144.412523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.74; 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 = 265.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2144.282898 meters looking forward 200.000000 meters along route # Maximum depth: 2145.739032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.282898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.093548; captureRadius = 10; duration = 136; initialDepth = 2079.758240; finalDepth = 2079.282898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3794080000002 # Actual altitude: 66.3794080000002 # Commanded vehicle depth:2079.282898 # Seafloor depth:-2145.662306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.52; 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 = 265.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2144.758240 meters looking forward 200.000000 meters along route # Maximum depth: 2153.255023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.758240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.093025; captureRadius = 10; duration = 136; initialDepth = 2080.024742; finalDepth = 2079.758240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3794080000002 # Actual altitude: 66.3794080000002 # Commanded vehicle depth:2079.75824 # Seafloor depth:-2144.961267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.52; 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 = 265.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2145.024742 meters looking forward 200.000000 meters along route # Maximum depth: 2164.811698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.024742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.092502; captureRadius = 10; duration = 136; initialDepth = 2091.769464; finalDepth = 2080.024742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8957420000002 # Actual altitude: 74.8957420000002 # Commanded vehicle depth:2080.024742 # Seafloor depth:-2154.920484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.98; MB_Bottom_Detect_Filter_Max_Range = 299.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2156.769464 meters looking forward 200.000000 meters along route # Maximum depth: 2169.524030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.769464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.091979; captureRadius = 10; duration = 136; initialDepth = 2100.607477; finalDepth = 2091.769464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8957420000002 # Actual altitude: 74.8957420000002 # Commanded vehicle depth:2091.769464 # Seafloor depth:-2165.569739 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.98; MB_Bottom_Detect_Filter_Max_Range = 299.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2165.607477 meters looking forward 200.000000 meters along route # Maximum depth: 2169.580638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.607477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968085; longitude = -129.091456; captureRadius = 10; duration = 136; initialDepth = 2096.653069; finalDepth = 2100.607477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8002750000001 # Actual altitude: 73.8002750000001 # Commanded vehicle depth:2100.607477 # Seafloor depth:-2169.580638 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 295.20; 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 = 295.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 136.168175 meters # Minimum depth: 2161.653069 meters looking forward 200.000000 meters along route # Maximum depth: 2169.523399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.653069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968946; longitude = -129.090955; captureRadius = 10; duration = 136; initialDepth = 2091.246148; finalDepth = 2096.653069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9731609999999 # Actual altitude: 68.9731609999999 # Commanded vehicle depth:2096.653069 # Seafloor depth:-2165.589637 # behavior reson { duration = 6; 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 6 # Segment length 136.168175 meters # Minimum depth: 2156.246148 meters looking forward 200.000000 meters along route # Maximum depth: 2165.580787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.246148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969794; longitude = -129.090462; captureRadius = 10; duration = 136; initialDepth = 2089.024484; finalDepth = 2091.246148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8199409999997 # Actual altitude: 69.8199409999997 # Commanded vehicle depth:2091.246148 # Seafloor depth:-2161.066089 # behavior reson { duration = 6; 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; } # ####################################################### # 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 136.168175 meters # Minimum depth: 2154.024484 meters looking forward 200.000000 meters along route # Maximum depth: 2162.401864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.024484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970633; longitude = -129.089974; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2051.645704; finalDepth = 2089.024484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8199409999997 # Actual altitude: 69.8199409999997 # Commanded vehicle depth:2089.024484 # Seafloor depth:-2156.001282 # behavior reson { duration = 6; 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 5 # Segment length 136.168175 meters # Minimum depth: 2116.645704 meters looking forward 200.000000 meters along route # Maximum depth: 2157.649048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.645704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970863; longitude = -129.090821; captureRadius = 10; duration = 136; initialDepth = 2047.807372; finalDepth = 2051.645704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 101.428971 # Actual altitude: 100 # Commanded vehicle depth:2051.645704 # Seafloor depth:-2153.074675 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 136.168175 meters # Minimum depth: 2112.807372 meters looking forward 200.000000 meters along route # Maximum depth: 2155.463425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.807372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971203; longitude = -129.092070; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2046.512421; finalDepth = 2047.807372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.428971 # Actual altitude: 100 # Commanded vehicle depth:2047.807372 # Seafloor depth:-2113.711243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2111.512421 meters looking forward 200.000000 meters along route # Maximum depth: 2139.902805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.512421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970819; longitude = -129.092293; captureRadius = 10; duration = 136; initialDepth = 2044.848338; finalDepth = 2046.512421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0623230000001 # Actual altitude: 66.0623230000001 # Commanded vehicle depth:2046.512421 # Seafloor depth:-2112.574744 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.25; 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 = 264.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2109.848338 meters looking forward 200.000000 meters along route # Maximum depth: 2112.604632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.848338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969974; longitude = -129.092786; captureRadius = 10; duration = 136; initialDepth = 2043.670646; finalDepth = 2044.848338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3459220000004 # Actual altitude: 67.3459220000004 # Commanded vehicle depth:2044.848338 # Seafloor depth:-2112.194260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.38; 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 = 269.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2108.670646 meters looking forward 200.000000 meters along route # Maximum depth: 2110.845992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.670646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969075; longitude = -129.093309; captureRadius = 10; duration = 136; initialDepth = 2043.670646; finalDepth = 2043.670646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3459220000004 # Actual altitude: 67.3459220000004 # Commanded vehicle depth:2043.670646 # Seafloor depth:-2109.707141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.38; 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 = 269.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2108.670646 meters looking forward 200.000000 meters along route # Maximum depth: 2110.160704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.670646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968175; longitude = -129.093833; captureRadius = 10; duration = 136; initialDepth = 2043.421494; finalDepth = 2043.670646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0364949999998 # Actual altitude: 66.0364949999998 # Commanded vehicle depth:2043.670646 # Seafloor depth:-2109.455011 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.15; 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 = 264.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2108.421494 meters looking forward 200.000000 meters along route # Maximum depth: 2110.498429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.421494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967276; longitude = -129.094357; captureRadius = 10; duration = 136; initialDepth = 2042.041679; finalDepth = 2043.421494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7919419999998 # Actual altitude: 66.7919419999998 # Commanded vehicle depth:2043.421494 # Seafloor depth:-2110.213436 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.17; 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 = 267.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2107.041679 meters looking forward 200.000000 meters along route # Maximum depth: 2110.435125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.041679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966376; longitude = -129.094880; captureRadius = 10; duration = 136; initialDepth = 2042.041679; finalDepth = 2042.041679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7919419999998 # Actual altitude: 66.7919419999998 # Commanded vehicle depth:2042.041679 # Seafloor depth:-2108.272185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.17; 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 = 267.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2107.041679 meters looking forward 200.000000 meters along route # Maximum depth: 2110.870968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.041679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965477; longitude = -129.095404; captureRadius = 10; duration = 136; initialDepth = 2043.000973; finalDepth = 2042.041679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2305059999999 # Actual altitude: 66.2305059999999 # Commanded vehicle depth:2042.041679 # Seafloor depth:-2107.650896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.92; 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 = 264.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2108.000973 meters looking forward 200.000000 meters along route # Maximum depth: 2113.639387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.000973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964613; longitude = -129.095907; captureRadius = 10; duration = 136; initialDepth = 2045.952755; finalDepth = 2043.000973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.89914 # Actual altitude: 67.89914 # Commanded vehicle depth:2043.000973 # Seafloor depth:-2110.900113 # behavior reson { duration = 6; 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 4 # Segment length 136.168175 meters # Minimum depth: 2110.952755 meters looking forward 200.000000 meters along route # Maximum depth: 2116.218946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.952755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963768; longitude = -129.096399; captureRadius = 10; duration = 136; initialDepth = 2043.239144; finalDepth = 2045.952755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3807820000002 # Actual altitude: 68.3807820000002 # Commanded vehicle depth:2045.952755 # Seafloor depth:-2114.333537 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.52; 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 = 273.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2108.239144 meters looking forward 200.000000 meters along route # Maximum depth: 2116.218946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.239144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962869; longitude = -129.096922; captureRadius = 10; duration = 136; initialDepth = 2031.304334; finalDepth = 2043.239144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3797319999999 # Actual altitude: 70.3797319999999 # Commanded vehicle depth:2043.239144 # Seafloor depth:-2113.618876 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 281.52; 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 = 281.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2096.304334 meters looking forward 200.000000 meters along route # Maximum depth: 2112.109745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.304334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961969; longitude = -129.097446; captureRadius = 10; duration = 136; initialDepth = 2028.650936; finalDepth = 2031.304334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8553609999999 # Actual altitude: 75.8553609999999 # Commanded vehicle depth:2031.304334 # Seafloor depth:-2107.159695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 303.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2093.650936 meters looking forward 200.000000 meters along route # Maximum depth: 2104.832155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2028.650936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961070; longitude = -129.097970; captureRadius = 10; duration = 136; initialDepth = 2026.709469; finalDepth = 2028.650936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8553609999999 # Actual altitude: 75.8553609999999 # Commanded vehicle depth:2028.650936 # Seafloor depth:-2095.575249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 303.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2091.709469 meters looking forward 200.000000 meters along route # Maximum depth: 2094.601584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.709469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.098493; captureRadius = 10; duration = 136; initialDepth = 2026.709469; finalDepth = 2026.709469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1994840000002 # Actual altitude: 67.1994840000002 # Commanded vehicle depth:2026.709469 # Seafloor depth:-2093.908953 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.80; 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 = 268.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2091.709469 meters looking forward 200.000000 meters along route # Maximum depth: 2094.986185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.709469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.099017; captureRadius = 10; duration = 136; initialDepth = 2027.180968; finalDepth = 2026.709469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1994840000002 # Actual altitude: 67.1994840000002 # Commanded vehicle depth:2026.709469 # Seafloor depth:-2091.900491 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.80; 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 = 268.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2092.180968 meters looking forward 200.000000 meters along route # Maximum depth: 2096.502932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.180968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958406; longitude = -129.099520; captureRadius = 10; duration = 136; initialDepth = 2027.127423; finalDepth = 2027.180968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9783669999997 # Actual altitude: 67.9783669999997 # Commanded vehicle depth:2027.180968 # Seafloor depth:-2095.159335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.91; 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 = 271.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2092.127423 meters looking forward 200.000000 meters along route # Maximum depth: 2096.502932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.127423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957562; longitude = -129.100012; captureRadius = 10; duration = 136; initialDepth = 2026.451127; finalDepth = 2027.127423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9783669999997 # Actual altitude: 67.9783669999997 # Commanded vehicle depth:2027.127423 # Seafloor depth:-2094.807447 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.91; 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 = 271.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2091.451127 meters looking forward 200.000000 meters along route # Maximum depth: 2093.354462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.451127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956663; longitude = -129.100536; captureRadius = 10; duration = 136; initialDepth = 2024.503307; finalDepth = 2026.451127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6800240000002 # Actual altitude: 67.6800240000002 # Commanded vehicle depth:2026.451127 # Seafloor depth:-2092.167435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.72; 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 = 270.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2089.503307 meters looking forward 200.000000 meters along route # Maximum depth: 2092.203827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.503307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955763; longitude = -129.101059; captureRadius = 10; duration = 136; initialDepth = 2024.197541; finalDepth = 2024.503307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.687672 # Actual altitude: 66.687672 # Commanded vehicle depth:2024.503307 # Seafloor depth:-2091.190979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.75; 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 = 266.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2089.197541 meters looking forward 200.000000 meters along route # Maximum depth: 2091.206586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.197541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954864; longitude = -129.101583; captureRadius = 10; duration = 136; initialDepth = 2024.199995; finalDepth = 2024.197541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.687672 # Actual altitude: 66.687672 # Commanded vehicle depth:2024.197541 # Seafloor depth:-2089.284495 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.75; 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 = 266.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2089.199995 meters looking forward 200.000000 meters along route # Maximum depth: 2094.096338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.199995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953965; longitude = -129.102107; captureRadius = 10; duration = 136; initialDepth = 2026.832675; finalDepth = 2024.199995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2911140000001 # Actual altitude: 67.2911140000001 # Commanded vehicle depth:2024.199995 # Seafloor depth:-2091.491109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.16; 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 = 269.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2091.832675 meters looking forward 200.000000 meters along route # Maximum depth: 2098.479552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.832675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953065; longitude = -129.102630; captureRadius = 10; duration = 136; initialDepth = 2029.920730; finalDepth = 2026.832675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5684529999999 # Actual altitude: 67.5684529999999 # Commanded vehicle depth:2026.832675 # Seafloor depth:-2094.401128 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.27; 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 = 270.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2094.920730 meters looking forward 200.000000 meters along route # Maximum depth: 2100.660913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.920730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952200; longitude = -129.103134; captureRadius = 10; duration = 136; initialDepth = 2034.532411; finalDepth = 2029.920730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9160320000001 # Actual altitude: 68.9160320000001 # Commanded vehicle depth:2029.92073 # Seafloor depth:-2098.836762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.66; 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 = 275.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2099.532411 meters looking forward 200.000000 meters along route # Maximum depth: 2100.828643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.532411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951356; longitude = -129.103625; captureRadius = 10; duration = 136; initialDepth = 2034.812827; finalDepth = 2034.532411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9160320000001 # Actual altitude: 68.9160320000001 # Commanded vehicle depth:2034.532411 # Seafloor depth:-2100.742711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.66; 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 = 275.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2099.812827 meters looking forward 200.000000 meters along route # Maximum depth: 2102.482822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.812827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950457; longitude = -129.104149; captureRadius = 10; duration = 136; initialDepth = 2030.617927; finalDepth = 2034.812827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2170669999996 # Actual altitude: 66.2170669999996 # Commanded vehicle depth:2034.812827 # Seafloor depth:-2101.029894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.87; 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 = 264.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2095.617927 meters looking forward 200.000000 meters along route # Maximum depth: 2102.482822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.617927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949557; longitude = -129.104673; captureRadius = 10; duration = 136; initialDepth = 2026.125748; finalDepth = 2030.617927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2495290000002 # Actual altitude: 68.2495290000002 # Commanded vehicle depth:2030.617927 # Seafloor depth:-2098.867456 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.00; 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 = 273.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2091.125748 meters looking forward 200.000000 meters along route # Maximum depth: 2097.496058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.125748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.105196; captureRadius = 10; duration = 136; initialDepth = 2026.125748; finalDepth = 2026.125748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0111310000002 # Actual altitude: 69.0111310000002 # Commanded vehicle depth:2026.125748 # Seafloor depth:-2095.136879 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.04; 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 = 276.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2091.125748 meters looking forward 200.000000 meters along route # Maximum depth: 2094.972100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.125748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947759; longitude = -129.105720; captureRadius = 10; duration = 136; initialDepth = 2025.551139; finalDepth = 2026.125748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0111310000002 # Actual altitude: 69.0111310000002 # Commanded vehicle depth:2026.125748 # Seafloor depth:-2092.693185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.04; 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 = 276.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2090.551139 meters looking forward 200.000000 meters along route # Maximum depth: 2094.972100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.551139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.106244; captureRadius = 10; duration = 136; initialDepth = 2025.551139; finalDepth = 2025.551139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5674370000002 # Actual altitude: 66.5674370000002 # Commanded vehicle depth:2025.551139 # Seafloor depth:-2091.099770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 266.27; 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 = 266.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2090.551139 meters looking forward 200.000000 meters along route # Maximum depth: 2092.914087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.551139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945993; longitude = -129.106748; captureRadius = 10; duration = 136; initialDepth = 2027.621395; finalDepth = 2025.551139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.121768 # Actual altitude: 67.121768 # Commanded vehicle depth:2025.551139 # Seafloor depth:-2092.672907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.49; 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 = 268.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2092.621395 meters looking forward 200.000000 meters along route # Maximum depth: 2094.025677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.621395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945150; longitude = -129.107238; captureRadius = 10; duration = 136; initialDepth = 2028.154107; finalDepth = 2027.621395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.121768 # Actual altitude: 67.121768 # Commanded vehicle depth:2027.621395 # Seafloor depth:-2092.875972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.49; 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 = 268.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2093.154107 meters looking forward 200.000000 meters along route # Maximum depth: 2098.953372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2028.154107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944251; longitude = -129.107762; captureRadius = 10; duration = 136; initialDepth = 2029.407135; finalDepth = 2028.154107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9552940000003 # Actual altitude: 65.9552940000003 # Commanded vehicle depth:2028.154107 # Seafloor depth:-2094.109401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 263.82; 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 = 263.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2094.407135 meters looking forward 200.000000 meters along route # Maximum depth: 2100.520696 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.407135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943352; longitude = -129.108286; captureRadius = 10; duration = 136; initialDepth = 2034.658195; finalDepth = 2029.407135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8666020000001 # Actual altitude: 69.8666020000001 # Commanded vehicle depth:2029.407135 # Seafloor depth:-2099.273737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.97; MB_Bottom_Detect_Filter_Max_Range = 279.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2099.658195 meters looking forward 200.000000 meters along route # Maximum depth: 2102.741122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.658195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942452; longitude = -129.108809; captureRadius = 10; duration = 136; initialDepth = 2034.658195; finalDepth = 2034.658195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8666020000001 # Actual altitude: 69.8666020000001 # Commanded vehicle depth:2034.658195 # Seafloor depth:-2100.121203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.97; MB_Bottom_Detect_Filter_Max_Range = 279.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2099.658195 meters looking forward 200.000000 meters along route # Maximum depth: 2104.053038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.658195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941553; longitude = -129.109333; captureRadius = 10; duration = 136; initialDepth = 2030.623457; finalDepth = 2034.658195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.665755 # Actual altitude: 68.665755 # Commanded vehicle depth:2034.658195 # Seafloor depth:-2103.323950 # behavior reson { duration = 6; 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 4 # Segment length 136.168175 meters # Minimum depth: 2095.623457 meters looking forward 200.000000 meters along route # Maximum depth: 2104.053038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.623457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940653; longitude = -129.109857; captureRadius = 10; duration = 136; initialDepth = 2025.699449; finalDepth = 2030.623457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3363999999997 # Actual altitude: 73.3363999999997 # Commanded vehicle depth:2030.623457 # Seafloor depth:-2103.959857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 293.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2090.699449 meters looking forward 200.000000 meters along route # Maximum depth: 2103.558805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.699449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939787; longitude = -129.110361; captureRadius = 10; duration = 136; initialDepth = 2024.785324; finalDepth = 2025.699449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3363999999997 # Actual altitude: 73.3363999999997 # Commanded vehicle depth:2025.699449 # Seafloor depth:-2095.075356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.67; MB_Bottom_Detect_Filter_Max_Range = 293.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2089.785324 meters looking forward 200.000000 meters along route # Maximum depth: 2094.495468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.785324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938944; longitude = -129.110852; captureRadius = 10; duration = 136; initialDepth = 2024.588030; finalDepth = 2024.785324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3759069999996 # Actual altitude: 69.3759069999996 # Commanded vehicle depth:2024.785324 # Seafloor depth:-2090.189936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.50; 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 = 277.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2089.588030 meters looking forward 200.000000 meters along route # Maximum depth: 2090.709133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.588030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938045; longitude = -129.111375; captureRadius = 10; duration = 136; initialDepth = 2024.588030; finalDepth = 2024.588030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4046120000003 # Actual altitude: 65.4046120000003 # Commanded vehicle depth:2024.58803 # Seafloor depth:-2089.831257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.62; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.08; MB_Bottom_Detect_Filter_Max_Range = 261.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2089.588030 meters looking forward 200.000000 meters along route # Maximum depth: 2097.304278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.588030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937146; longitude = -129.111899; captureRadius = 10; duration = 136; initialDepth = 2028.347928; finalDepth = 2024.588030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.905033 # Actual altitude: 66.905033 # Commanded vehicle depth:2024.58803 # Seafloor depth:-2091.493063 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.62; 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 = 267.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2093.347928 meters looking forward 200.000000 meters along route # Maximum depth: 2102.943634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2028.347928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936246; longitude = -129.112423; captureRadius = 10; duration = 136; initialDepth = 2033.188655; finalDepth = 2028.347928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1583729999998 # Actual altitude: 69.1583729999998 # Commanded vehicle depth:2028.347928 # Seafloor depth:-2097.506301 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.63; 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 = 276.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2098.188655 meters looking forward 200.000000 meters along route # Maximum depth: 2107.760720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2033.188655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935347; longitude = -129.112946; captureRadius = 10; duration = 136; initialDepth = 2038.976537; finalDepth = 2033.188655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1011920000001 # Actual altitude: 70.1011920000001 # Commanded vehicle depth:2033.188655 # Seafloor depth:-2103.289847 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.40; 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 = 280.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2103.976537 meters looking forward 200.000000 meters along route # Maximum depth: 2110.215284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.976537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934447; longitude = -129.113470; captureRadius = 10; duration = 136; initialDepth = 2043.452939; finalDepth = 2038.976537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1011920000001 # Actual altitude: 70.1011920000001 # Commanded vehicle depth:2038.976537 # Seafloor depth:-2107.955362 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 280.40; 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 = 280.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2108.452939 meters looking forward 200.000000 meters along route # Maximum depth: 2110.438904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.452939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933548; longitude = -129.113994; captureRadius = 10; duration = 136; initialDepth = 2045.164786; finalDepth = 2043.452939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9788250000001 # Actual altitude: 68.9788250000001 # Commanded vehicle depth:2043.452939 # Seafloor depth:-2110.230309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.92; 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 = 275.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2110.164786 meters looking forward 200.000000 meters along route # Maximum depth: 2111.225289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.164786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932649; longitude = -129.114517; captureRadius = 10; duration = 136; initialDepth = 2045.801467; finalDepth = 2045.164786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7773700000002 # Actual altitude: 66.7773700000002 # Commanded vehicle depth:2045.164786 # Seafloor depth:-2110.452703 # behavior reson { duration = 6; 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 4 # Segment length 136.168175 meters # Minimum depth: 2110.801467 meters looking forward 200.000000 meters along route # Maximum depth: 2111.928251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.801467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931741; longitude = -129.115045; captureRadius = 10; duration = 136; initialDepth = 2046.220342; finalDepth = 2045.801467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.2879170000001 # Actual altitude: 65.2879170000001 # Commanded vehicle depth:2045.801467 # Seafloor depth:-2110.961808 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.15; 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 = 261.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 136.168175 meters # Minimum depth: 2111.220342 meters looking forward 200.000000 meters along route # Maximum depth: 2113.095770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.220342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930822; longitude = -129.115581; captureRadius = 10; duration = 136; initialDepth = 2046.251784; finalDepth = 2046.220342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.1603410000002 # Actual altitude: 65.1603410000002 # Commanded vehicle depth:2046.220342 # Seafloor depth:-2111.312075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 260.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.03; MB_Bottom_Detect_Filter_Max_Range = 260.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.64; 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 136.168175 meters # Minimum depth: 2111.251784 meters looking forward 200.000000 meters along route # Maximum depth: 2113.124512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.251784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929980; longitude = -129.116071; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2042.879960; finalDepth = 2046.251784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8727279999998 # Actual altitude: 66.8727279999998 # Commanded vehicle depth:2046.251784 # Seafloor depth:-2113.124512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.49; 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 = 267.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 136.168175 meters # Minimum depth: 2107.879960 meters looking forward 200.000000 meters along route # Maximum depth: 2113.124512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.879960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930211; longitude = -129.116919; captureRadius = 10; duration = 136; initialDepth = 2040.344134; finalDepth = 2042.879960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 69.4753309999996 # Actual altitude: 69.4753309999996 # Commanded vehicle depth:2042.87996 # Seafloor depth:-2112.355291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.90; 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 = 277.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 136.168175 meters # Minimum depth: 2105.344134 meters looking forward 200.000000 meters along route # Maximum depth: 2112.676149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2040.344134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930550; longitude = -129.118168; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2033.130116; finalDepth = 2040.344134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4753309999996 # Actual altitude: 69.4753309999996 # Commanded vehicle depth:2040.344134 # Seafloor depth:-2107.636414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.90; 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 = 277.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2098.130116 meters looking forward 200.000000 meters along route # Maximum depth: 2110.890015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2033.130116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930940; longitude = -129.117941; captureRadius = 10; duration = 136; initialDepth = 2032.229152; finalDepth = 2033.130116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.488879 # Actual altitude: 71.488879 # Commanded vehicle depth:2033.130116 # Seafloor depth:-2104.618995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.96; 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 = 285.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2097.229152 meters looking forward 200.000000 meters along route # Maximum depth: 2103.822411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.229152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931839; longitude = -129.117418; captureRadius = 10; duration = 136; initialDepth = 2031.921471; finalDepth = 2032.229152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.488879 # Actual altitude: 71.488879 # Commanded vehicle depth:2032.229152 # Seafloor depth:-2097.909175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 285.96; 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 = 285.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2096.921471 meters looking forward 200.000000 meters along route # Maximum depth: 2097.688847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.921471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932697; longitude = -129.116919; captureRadius = 10; duration = 136; initialDepth = 2025.607925; finalDepth = 2031.921471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6800229999999 # Actual altitude: 65.6800229999999 # Commanded vehicle depth:2031.921471 # Seafloor depth:-2097.214047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.72; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.14; MB_Bottom_Detect_Filter_Max_Range = 262.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2090.607925 meters looking forward 200.000000 meters along route # Maximum depth: 2097.653220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.607925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933548; longitude = -129.116424; captureRadius = 10; duration = 136; initialDepth = 2025.289459; finalDepth = 2025.607925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.023901 # Actual altitude: 71.023901 # Commanded vehicle depth:2025.607925 # Seafloor depth:-2096.631826 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.10; 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 = 284.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2090.289459 meters looking forward 200.000000 meters along route # Maximum depth: 2096.057292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.289459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934447; longitude = -129.115901; captureRadius = 10; duration = 136; initialDepth = 2021.780152; finalDepth = 2025.289459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.023901 # Actual altitude: 71.023901 # Commanded vehicle depth:2025.289459 # Seafloor depth:-2090.344905 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 284.10; 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 = 284.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2086.780152 meters looking forward 200.000000 meters along route # Maximum depth: 2090.909015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.780152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935347; longitude = -129.115378; captureRadius = 10; duration = 136; initialDepth = 2021.416315; finalDepth = 2021.780152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1163280000001 # Actual altitude: 69.1163280000001 # Commanded vehicle depth:2021.780152 # Seafloor depth:-2090.896480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.47; 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 = 276.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2086.416315 meters looking forward 200.000000 meters along route # Maximum depth: 2090.037768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.416315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936246; longitude = -129.114855; captureRadius = 10; duration = 136; initialDepth = 2020.370371; finalDepth = 2021.416315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1163280000001 # Actual altitude: 69.1163280000001 # Commanded vehicle depth:2021.416315 # Seafloor depth:-2086.576832 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.47; 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 = 276.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2085.370371 meters looking forward 200.000000 meters along route # Maximum depth: 2088.703603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.370371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937146; longitude = -129.114332; captureRadius = 10; duration = 136; initialDepth = 2018.681444; finalDepth = 2020.370371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2850119999998 # Actual altitude: 68.2850119999998 # Commanded vehicle depth:2020.370371 # Seafloor depth:-2088.655383 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2083.681444 meters looking forward 200.000000 meters along route # Maximum depth: 2088.703603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2018.681444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938045; longitude = -129.113809; captureRadius = 10; duration = 136; initialDepth = 2017.945365; finalDepth = 2018.681444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2850119999998 # Actual altitude: 68.2850119999998 # Commanded vehicle depth:2018.681444 # Seafloor depth:-2084.980201 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2082.945365 meters looking forward 200.000000 meters along route # Maximum depth: 2084.311295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.945365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938911; longitude = -129.113306; captureRadius = 10; duration = 136; initialDepth = 2017.945365; finalDepth = 2017.945365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.298757 # Actual altitude: 66.298757 # Commanded vehicle depth:2017.945365 # Seafloor depth:-2083.651183 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.20; 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 = 265.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2082.945365 meters looking forward 200.000000 meters along route # Maximum depth: 2086.455761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.945365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939754; longitude = -129.112815; captureRadius = 10; duration = 136; initialDepth = 2019.267615; finalDepth = 2017.945365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1903630000002 # Actual altitude: 66.1903630000002 # Commanded vehicle depth:2017.945365 # Seafloor depth:-2084.135728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.76; 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 = 264.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2084.267615 meters looking forward 200.000000 meters along route # Maximum depth: 2086.455761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2019.267615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940653; longitude = -129.112292; captureRadius = 10; duration = 136; initialDepth = 2017.230137; finalDepth = 2019.267615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.759376 # Actual altitude: 66.759376 # Commanded vehicle depth:2019.267615 # Seafloor depth:-2086.026991 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2082.230137 meters looking forward 200.000000 meters along route # Maximum depth: 2085.803740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.230137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941553; longitude = -129.111769; captureRadius = 10; duration = 136; initialDepth = 2017.230137; finalDepth = 2017.230137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8661139999999 # Actual altitude: 66.8661139999999 # Commanded vehicle depth:2017.230137 # Seafloor depth:-2084.096251 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.46; 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 = 267.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2082.230137 meters looking forward 200.000000 meters along route # Maximum depth: 2085.073599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.230137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942452; longitude = -129.111246; captureRadius = 10; duration = 136; initialDepth = 2017.606090; finalDepth = 2017.230137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8661139999999 # Actual altitude: 66.8661139999999 # Commanded vehicle depth:2017.230137 # Seafloor depth:-2082.471622 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.46; 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 = 267.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2082.606090 meters looking forward 200.000000 meters along route # Maximum depth: 2086.638002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.606090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943352; longitude = -129.110723; captureRadius = 10; duration = 136; initialDepth = 2020.551387; finalDepth = 2017.606090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6856419999999 # Actual altitude: 67.6856419999999 # Commanded vehicle depth:2017.60609 # Seafloor depth:-2085.291732 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.74; 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 = 270.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2085.551387 meters looking forward 200.000000 meters along route # Maximum depth: 2087.177926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.551387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944204; longitude = -129.110227; captureRadius = 10; duration = 136; initialDepth = 2021.854275; finalDepth = 2020.551387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6856419999999 # Actual altitude: 67.6856419999999 # Commanded vehicle depth:2020.551387 # Seafloor depth:-2086.706672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.74; 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 = 270.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2086.854275 meters looking forward 200.000000 meters along route # Maximum depth: 2088.666840 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.854275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945060; longitude = -129.109729; captureRadius = 10; duration = 136; initialDepth = 2022.110666; finalDepth = 2021.854275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1552849999998 # Actual altitude: 66.1552849999998 # Commanded vehicle depth:2021.854275 # Seafloor depth:-2087.128815 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.62; 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 = 264.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2087.110666 meters looking forward 200.000000 meters along route # Maximum depth: 2089.684190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2022.110666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945960; longitude = -129.109206; captureRadius = 10; duration = 136; initialDepth = 2021.743463; finalDepth = 2022.110666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0196150000002 # Actual altitude: 67.0196150000002 # Commanded vehicle depth:2022.110666 # Seafloor depth:-2089.130281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.08; 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 = 268.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2086.743463 meters looking forward 200.000000 meters along route # Maximum depth: 2090.938829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.743463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.108683; captureRadius = 10; duration = 136; initialDepth = 2021.957213; finalDepth = 2021.743463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0196150000002 # Actual altitude: 67.0196150000002 # Commanded vehicle depth:2021.743463 # Seafloor depth:-2086.823812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.08; 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 = 268.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2086.957213 meters looking forward 200.000000 meters along route # Maximum depth: 2090.938829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.957213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947759; longitude = -129.108160; captureRadius = 10; duration = 136; initialDepth = 2022.122680; finalDepth = 2021.957213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9288240000001 # Actual altitude: 68.9288240000001 # Commanded vehicle depth:2021.957213 # Seafloor depth:-2090.886037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.72; 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 = 275.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2087.122680 meters looking forward 200.000000 meters along route # Maximum depth: 2090.508061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2022.122680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.107637; captureRadius = 10; duration = 136; initialDepth = 2019.109223; finalDepth = 2022.122680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9288240000001 # Actual altitude: 68.9288240000001 # Commanded vehicle depth:2022.12268 # Seafloor depth:-2090.381030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 275.72; 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 = 275.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2084.109223 meters looking forward 200.000000 meters along route # Maximum depth: 2090.498254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2019.109223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949557; longitude = -129.107114; captureRadius = 10; duration = 136; initialDepth = 2017.884701; finalDepth = 2019.109223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2583500000001 # Actual altitude: 68.2583500000001 # Commanded vehicle depth:2019.109223 # Seafloor depth:-2086.702227 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.03; 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 = 273.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2082.884701 meters looking forward 200.000000 meters along route # Maximum depth: 2086.015388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.884701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950418; longitude = -129.106614; captureRadius = 10; duration = 136; initialDepth = 2017.884701; finalDepth = 2017.884701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5930040000003 # Actual altitude: 67.5930040000003 # Commanded vehicle depth:2017.884701 # Seafloor depth:-2084.028598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.37; 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 = 270.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2082.884701 meters looking forward 200.000000 meters along route # Maximum depth: 2084.381306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.884701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951266; longitude = -129.106120; captureRadius = 10; duration = 136; initialDepth = 2014.864606; finalDepth = 2017.884701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1438969999999 # Actual altitude: 66.1438969999999 # Commanded vehicle depth:2017.884701 # Seafloor depth:-2083.417094 # behavior reson { duration = 6; 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 136.168175 meters # Minimum depth: 2079.864606 meters looking forward 200.000000 meters along route # Maximum depth: 2084.381306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2014.864606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952166; longitude = -129.105597; captureRadius = 10; duration = 136; initialDepth = 2007.021529; finalDepth = 2014.864606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3898979999999 # Actual altitude: 68.3898979999999 # Commanded vehicle depth:2014.864606 # Seafloor depth:-2083.254504 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.56; 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 = 273.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2072.021529 meters looking forward 200.000000 meters along route # Maximum depth: 2082.929476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2007.021529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953065; longitude = -129.105074; captureRadius = 10; duration = 136; initialDepth = 2006.839318; finalDepth = 2007.021529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7541769999998 # Actual altitude: 71.7541769999998 # Commanded vehicle depth:2007.021529 # Seafloor depth:-2078.775706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.02; 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 = 287.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2071.839318 meters looking forward 200.000000 meters along route # Maximum depth: 2076.240431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2006.839318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953965; longitude = -129.104551; captureRadius = 10; duration = 136; initialDepth = 2006.854039; finalDepth = 2006.839318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7541769999998 # Actual altitude: 71.7541769999998 # Commanded vehicle depth:2006.839318 # Seafloor depth:-2071.839318 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 287.02; 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 = 287.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2071.854039 meters looking forward 200.000000 meters along route # Maximum depth: 2083.941514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2006.854039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954864; longitude = -129.104028; captureRadius = 10; duration = 136; initialDepth = 2012.706544; finalDepth = 2006.854039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9690250000003 # Actual altitude: 68.9690250000003 # Commanded vehicle depth:2006.854039 # Seafloor depth:-2075.823064 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2077.706544 meters looking forward 200.000000 meters along route # Maximum depth: 2087.941649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2012.706544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955763; longitude = -129.103505; captureRadius = 10; duration = 136; initialDepth = 2019.592407; finalDepth = 2012.706544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4348009999999 # Actual altitude: 71.4348009999999 # Commanded vehicle depth:2012.706544 # Seafloor depth:-2084.141345 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2084.592407 meters looking forward 200.000000 meters along route # Maximum depth: 2088.193376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2019.592407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956631; longitude = -129.103000; captureRadius = 10; duration = 136; initialDepth = 2015.287644; finalDepth = 2019.592407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4348009999999 # Actual altitude: 71.4348009999999 # Commanded vehicle depth:2019.592407 # Seafloor depth:-2088.067333 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2080.287644 meters looking forward 200.000000 meters along route # Maximum depth: 2088.193376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.287644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.102511; captureRadius = 10; duration = 136; initialDepth = 2013.510906; finalDepth = 2015.287644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4024760000002 # Actual altitude: 69.4024760000002 # Commanded vehicle depth:2015.287644 # Seafloor depth:-2084.690120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.61; 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 = 277.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2078.510906 meters looking forward 200.000000 meters along route # Maximum depth: 2084.026103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2013.510906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958372; longitude = -129.101988; captureRadius = 10; duration = 136; initialDepth = 2013.510906; finalDepth = 2013.510906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4024760000002 # Actual altitude: 69.4024760000002 # Commanded vehicle depth:2013.510906 # Seafloor depth:-2079.726283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 277.61; 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 = 277.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2078.510906 meters looking forward 200.000000 meters along route # Maximum depth: 2080.714083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2013.510906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.101465; captureRadius = 10; duration = 136; initialDepth = 2015.026704; finalDepth = 2013.510906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.403143 # Actual altitude: 66.403143 # Commanded vehicle depth:2013.510906 # Seafloor depth:-2079.914049 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2080.026704 meters looking forward 200.000000 meters along route # Maximum depth: 2081.859665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.026704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.100942; captureRadius = 10; duration = 136; initialDepth = 2015.185525; finalDepth = 2015.026704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.403143 # Actual altitude: 66.403143 # Commanded vehicle depth:2015.026704 # Seafloor depth:-2081.001179 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2080.185525 meters looking forward 200.000000 meters along route # Maximum depth: 2081.859665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.185525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961070; longitude = -129.100419; captureRadius = 10; duration = 136; initialDepth = 2011.751561; finalDepth = 2015.185525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6004029999999 # Actual altitude: 66.6004029999999 # Commanded vehicle depth:2015.185525 # Seafloor depth:-2081.785928 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2076.751561 meters looking forward 200.000000 meters along route # Maximum depth: 2081.651895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2011.751561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961925; longitude = -129.099922; captureRadius = 10; duration = 136; initialDepth = 2010.437632; finalDepth = 2011.751561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3237249999997 # Actual altitude: 68.3237249999997 # Commanded vehicle depth:2011.751561 # Seafloor depth:-2080.075286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.29; 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 = 273.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2075.437632 meters looking forward 200.000000 meters along route # Maximum depth: 2079.676459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2010.437632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.099425; captureRadius = 10; duration = 136; initialDepth = 2010.437632; finalDepth = 2010.437632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3237249999997 # Actual altitude: 68.3237249999997 # Commanded vehicle depth:2010.437632 # Seafloor depth:-2076.656037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 273.29; 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 = 273.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2075.437632 meters looking forward 200.000000 meters along route # Maximum depth: 2076.395502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2010.437632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963678; longitude = -129.098902; captureRadius = 10; duration = 136; initialDepth = 2010.815835; finalDepth = 2010.437632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2184050000001 # Actual altitude: 66.2184050000001 # Commanded vehicle depth:2010.437632 # Seafloor depth:-2075.672548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.87; 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 = 264.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2075.815835 meters looking forward 200.000000 meters along route # Maximum depth: 2076.945600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2010.815835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964577; longitude = -129.098379; captureRadius = 10; duration = 136; initialDepth = 2009.704323; finalDepth = 2010.815835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6924899999999 # Actual altitude: 65.6924899999999 # Commanded vehicle depth:2010.815835 # Seafloor depth:-2076.508325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 262.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.14; MB_Bottom_Detect_Filter_Max_Range = 262.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2074.704323 meters looking forward 200.000000 meters along route # Maximum depth: 2076.945600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2009.704323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965477; longitude = -129.097856; captureRadius = 10; duration = 136; initialDepth = 2007.057281; finalDepth = 2009.704323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4221320000001 # Actual altitude: 66.4221320000001 # Commanded vehicle depth:2009.704323 # Seafloor depth:-2076.126455 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2072.057281 meters looking forward 200.000000 meters along route # Maximum depth: 2075.889180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2007.057281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966376; longitude = -129.097333; captureRadius = 10; duration = 136; initialDepth = 2005.646932; finalDepth = 2007.057281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5995640000001 # Actual altitude: 67.5995640000001 # Commanded vehicle depth:2007.057281 # Seafloor depth:-2074.656845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.40; 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 = 270.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2070.646932 meters looking forward 200.000000 meters along route # Maximum depth: 2074.332361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2005.646932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967276; longitude = -129.096810; captureRadius = 10; duration = 136; initialDepth = 2005.646932; finalDepth = 2005.646932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5995640000001 # Actual altitude: 67.5995640000001 # Commanded vehicle depth:2005.646932 # Seafloor depth:-2071.976372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.40; 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 = 270.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2070.646932 meters looking forward 200.000000 meters along route # Maximum depth: 2073.526477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2005.646932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968175; longitude = -129.096287; captureRadius = 10; duration = 136; initialDepth = 2006.754183; finalDepth = 2005.646932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.32944 # Actual altitude: 66.32944 # Commanded vehicle depth:2005.646932 # Seafloor depth:-2071.277051 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.32; 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 = 265.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2071.754183 meters looking forward 200.000000 meters along route # Maximum depth: 2076.870330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2006.754183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969075; longitude = -129.095764; captureRadius = 10; duration = 136; initialDepth = 2009.030816; finalDepth = 2006.754183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.811651 # Actual altitude: 66.811651 # Commanded vehicle depth:2006.754183 # Seafloor depth:-2073.565834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.25; 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 = 267.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 136.168175 meters # Minimum depth: 2074.030816 meters looking forward 200.000000 meters along route # Maximum depth: 2080.973647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2009.030816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969979; longitude = -129.095238; captureRadius = 10; duration = 136; initialDepth = 2012.881687; finalDepth = 2009.030816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8643339999999 # Actual altitude: 67.8643339999999 # Commanded vehicle depth:2009.030816 # Seafloor depth:-2076.895150 # behavior reson { duration = 6; 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 2 # Segment length 136.168175 meters # Minimum depth: 2077.881687 meters looking forward 200.000000 meters along route # Maximum depth: 2081.131510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2012.881687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970900; longitude = -129.094702; captureRadius = 10; duration = 136; initialDepth = 2015.393746; finalDepth = 2012.881687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1453900000001 # Actual altitude: 68.1453900000001 # Commanded vehicle depth:2012.881687 # Seafloor depth:-2081.027077 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.58; 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 = 272.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.58; 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 136.168175 meters # Minimum depth: 2080.393746 meters looking forward 200.000000 meters along route # Maximum depth: 2081.945762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.393746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971743; longitude = -129.094212; captureRadius = 10; duration = 136; # abortOnTimeout = True; initialDepth = 2015.579364; finalDepth = 2015.393746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1453900000001 # Actual altitude: 68.1453900000001 # Commanded vehicle depth:2015.393746 # Seafloor depth:-2080.587280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.58; 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 = 272.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 136.168175 meters # Minimum depth: 2080.579364 meters looking forward 200.000000 meters along route # Maximum depth: 2082.627615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2362.978690 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.579364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972601; longitude = -129.094569; captureRadius = 10; duration = 136; initialDepth = 2014.230591; finalDepth = 2015.579364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.996987 # Actual altitude: 66.996987 # Commanded vehicle depth:2015.579364 # Seafloor depth:-2082.576351 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 267.99; 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 = 267.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.99; 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 = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 66.996987 # Sonar parameter altitude: 66.996987 # Commanded vehicle depth:2014.230591 # Seafloor depth:-2079.230591 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 210; MB_Range = 267.99; 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 = 267.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.99; 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 136.168175 meters # Minimum depth: 2079.230591 meters looking forward 200.000000 meters along route # Maximum depth: 2082.627615 meters looking forward 200.000000 meters along route # Vehicle depth: 2014.230591 meters behavior waypoint { latitude = 47.973781; longitude = -129.095059; captureRadius = 10; duration = 503; depth = 2014.230591; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2014.230591 meters set by local depth and desired altitude behavior descend { duration = 5983; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2004.230591; minAltitude = 40.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 136.168175 meters # Minimum depth: 2079.230591 meters looking forward 200.000000 meters along route # Maximum depth: 2082.627615 meters looking forward 200.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 47.973781; longitude = -129.095059; captureRadius = 10; duration = 500; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 164.476926; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 40.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 164.476926; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 210; MB_Range = 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; } # ####################################################### #######################################################