# 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_3v9n.rte # Mission File: Endeavour2008_3v9n.cfg # Distance: 83181.121283 (m) # Estimated Time: 59401 (s) 16.500 (hr) # Abort Time: 63000 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2627 (s) # Way Points: 44 # Route Points: 798 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Subbottom disabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 2303.50758 (m) # Abort Vehicle Depth: 2328.50758 (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 -129.106971 47.906416 -2285.166382 0.000000 3 # 1 -129.116875 47.912262 -2234.916321 984.836954 3 # 2 -129.106435 47.930070 -2236.415771 3112.232465 3 # 3 -129.107759 47.936574 -2173.610596 3841.850100 1 # 4 -129.105198 47.941227 -2167.538513 4393.242000 1 # 5 -129.106858 47.941875 -2158.952209 4536.613256 1 # 6 -129.112639 47.935722 -2100.785461 5345.370583 1 # 7 -129.116072 47.936462 -2077.842224 5614.641698 1 # 8 -129.113395 47.941043 -2088.237671 6161.642033 3 # 9 -129.091133 47.979028 -2087.194946 10698.822978 4 # 10 -129.093275 47.979657 -2073.099426 10873.289838 3 # 11 -129.115268 47.941763 -2093.165527 15393.721418 4 # 12 -129.117410 47.942392 -2100.450806 15568.293525 3 # 13 -129.095461 47.980257 -2083.688782 20084.522908 4 # 14 -129.097691 47.980827 -2088.009521 20262.584954 3 # 15 -129.119640 47.942962 -2110.290588 24778.808337 4 # 16 -129.121916 47.943501 -2125.212402 24959.022658 3 # 17 -129.099967 47.981456 -2107.923279 29484.562880 4 # 18 -129.102108 47.981996 -2126.038452 29655.229928 3 # 19 -129.124102 47.944101 -2138.886292 34175.767463 4 # 20 -129.126332 47.944671 -2162.598389 34353.938012 3 # 21 -129.104294 47.982596 -2144.697815 38878.769321 4 # 22 -129.106525 47.983165 -2174.334045 39056.854613 3 # 23 -129.128518 47.945270 -2186.321472 43577.352702 4 # 24 -129.130749 47.945840 -2258.913574 43755.589555 3 # 25 -129.108666 47.983795 -2216.654358 48284.736159 3 # 26 -129.091669 47.978218 -2090.021301 49696.464570 3 # 27 -129.077616 48.002412 -2133.318542 52582.701908 4 # 28 -129.075519 48.001843 -2126.173035 52751.423267 3 # 29 -129.093453 47.970723 -2085.057312 56460.103118 4 # 30 -129.091312 47.970184 -2153.525208 56630.763616 3 # 31 -129.073467 48.001243 -2155.998535 60330.730962 4 # 32 -129.071370 48.000674 -2192.372681 60499.455586 3 # 33 -129.091267 47.966166 -2176.022522 64612.206982 4 # 34 -129.089171 47.965597 -2174.328430 64780.960574 3 # 35 -129.069318 48.000074 -2194.285522 68889.319521 4 # 36 -129.067177 47.999444 -2183.610107 69063.704947 3 # 37 -129.087029 47.964967 -2191.590881 73172.042998 4 # 38 -129.084888 47.964428 -2154.325012 73342.720088 3 # 39 -129.065036 47.998905 -2164.767090 77451.063271 4 # 40 -129.062894 47.998275 -2173.604004 77625.520311 3 # 41 -129.081007 47.967126 -2103.692566 81342.074018 3 # 42 -129.084754 47.965057 -2155.899841 81704.164228 3 # 43 -129.091936 47.952675 -2190.095764 83181.121283 4 # # A total of 798 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 = 2303.507580; abortDepth = 2328.507580; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2627; 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 43 # Segment length 101.015125 meters # Minimum depth: 2189.251458 meters looking forward 200.000000 meters along route # Maximum depth: 2190.095764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.251458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952675; longitude = -129.091936; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2113.051993; finalDepth = 2114.251458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.844306 # Actual altitude: 75.844306 # Commanded vehicle depth:2114.251458 # Seafloor depth:-2190.095764 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 303.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2188.051993 meters looking forward 200.000000 meters along route # Maximum depth: 2190.095764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.051993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952751; longitude = -129.091892; captureRadius = 10; duration = 101; initialDepth = 2113.051993; finalDepth = 2113.051993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9206140000001 # Actual altitude: 75.9206140000001 # Commanded vehicle depth:2113.051993 # Seafloor depth:-2188.972607 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 303.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2188.051993 meters looking forward 200.000000 meters along route # Maximum depth: 2189.368567 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.051993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953605; longitude = -129.091397; captureRadius = 10; duration = 101; initialDepth = 2113.408971; finalDepth = 2113.051993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9206140000001 # Actual altitude: 75.9206140000001 # Commanded vehicle depth:2113.051993 # Seafloor depth:-2188.273424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 303.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2188.408971 meters looking forward 200.000000 meters along route # Maximum depth: 2193.763050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.408971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954504; longitude = -129.090875; captureRadius = 10; duration = 101; initialDepth = 2114.932531; finalDepth = 2113.408971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4341870000003 # Actual altitude: 76.4341870000003 # Commanded vehicle depth:2113.408971 # Seafloor depth:-2189.843158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2189.932531 meters looking forward 200.000000 meters along route # Maximum depth: 2194.179117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.932531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955404; longitude = -129.090353; captureRadius = 10; duration = 101; initialDepth = 2102.794877; finalDepth = 2114.932531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1038530000001 # Actual altitude: 79.1038530000001 # Commanded vehicle depth:2114.932531 # Seafloor depth:-2194.036384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2177.794877 meters looking forward 200.000000 meters along route # Maximum depth: 2194.092437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.794877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956303; longitude = -129.089832; captureRadius = 10; duration = 101; initialDepth = 2096.734628; finalDepth = 2102.794877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.541655 # Actual altitude: 85.541655 # Commanded vehicle depth:2102.794877 # Seafloor depth:-2188.336532 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.11; MB_Bottom_Detect_Filter_Max_Range = 342.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2171.734628 meters looking forward 200.000000 meters along route # Maximum depth: 2186.712722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.734628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957202; longitude = -129.089310; captureRadius = 10; duration = 101; initialDepth = 2096.147264; finalDepth = 2096.734628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.541655 # Actual altitude: 85.541655 # Commanded vehicle depth:2096.734628 # Seafloor depth:-2177.133487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.11; MB_Bottom_Detect_Filter_Max_Range = 342.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2171.147264 meters looking forward 200.000000 meters along route # Maximum depth: 2176.284407 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.147264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958058; longitude = -129.088814; captureRadius = 10; duration = 101; initialDepth = 2096.147264; finalDepth = 2096.147264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3988589999999 # Actual altitude: 80.3988589999999 # Commanded vehicle depth:2096.147264 # Seafloor depth:-2171.525415 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 321.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2171.147264 meters looking forward 200.000000 meters along route # Maximum depth: 2174.446370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.147264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958911; longitude = -129.088319; captureRadius = 10; duration = 101; initialDepth = 2098.861118; finalDepth = 2096.147264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.583807 # Actual altitude: 77.583807 # Commanded vehicle depth:2096.147264 # Seafloor depth:-2173.731071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 310.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2173.861118 meters looking forward 200.000000 meters along route # Maximum depth: 2175.165298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.861118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959811; longitude = -129.087797; captureRadius = 10; duration = 101; initialDepth = 2096.538886; finalDepth = 2098.861118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.583807 # Actual altitude: 77.583807 # Commanded vehicle depth:2098.861118 # Seafloor depth:-2173.975908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 310.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2171.538886 meters looking forward 200.000000 meters along route # Maximum depth: 2175.165298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.538886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960710; longitude = -129.087275; captureRadius = 10; duration = 101; initialDepth = 2096.538886; finalDepth = 2096.538886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2179660000002 # Actual altitude: 78.2179660000002 # Commanded vehicle depth:2096.538886 # Seafloor depth:-2174.756852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2171.538886 meters looking forward 200.000000 meters along route # Maximum depth: 2173.827734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.538886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961609; longitude = -129.086754; captureRadius = 10; duration = 101; initialDepth = 2092.341491; finalDepth = 2096.538886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2179660000002 # Actual altitude: 78.2179660000002 # Commanded vehicle depth:2096.538886 # Seafloor depth:-2171.642033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2167.341491 meters looking forward 200.000000 meters along route # Maximum depth: 2172.289806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.341491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962509; longitude = -129.086232; captureRadius = 10; duration = 101; initialDepth = 2087.769786; finalDepth = 2092.341491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9483150000001 # Actual altitude: 79.9483150000001 # Commanded vehicle depth:2092.341491 # Seafloor depth:-2172.289806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 319.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2162.769786 meters looking forward 200.000000 meters along route # Maximum depth: 2172.179530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.769786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963365; longitude = -129.085735; captureRadius = 10; duration = 101; initialDepth = 2081.723804; finalDepth = 2087.769786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9483150000001 # Actual altitude: 79.9483150000001 # Commanded vehicle depth:2087.769786 # Seafloor depth:-2167.096739 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 319.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.015125 meters # Minimum depth: 2156.723804 meters looking forward 200.000000 meters along route # Maximum depth: 2166.880894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.723804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964218; longitude = -129.085241; captureRadius = 10; duration = 101; initialDepth = 2072.099040; finalDepth = 2081.723804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6601339999997 # Actual altitude: 80.6601339999997 # Commanded vehicle depth:2081.723804 # Seafloor depth:-2162.383938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 322.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.64; 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 42 # Segment length 101.015125 meters # Minimum depth: 2147.099040 meters looking forward 200.000000 meters along route # Maximum depth: 2164.806787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.099040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965057; longitude = -129.084754; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2051.651937; finalDepth = 2072.099040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8008009999999 # Actual altitude: 83.8008009999999 # Commanded vehicle depth:2072.09904 # Seafloor depth:-2155.899841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 335.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 101.015125 meters # Minimum depth: 2126.651937 meters looking forward 200.000000 meters along route # Maximum depth: 2159.664791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.651937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965328; longitude = -129.084263; captureRadius = 10; duration = 101; initialDepth = 2038.931115; finalDepth = 2051.651937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.6412949999999 # Actual altitude: 91.6412949999999 # Commanded vehicle depth:2051.651937 # Seafloor depth:-2143.293232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.33; 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 101.015125 meters # Minimum depth: 2113.931115 meters looking forward 200.000000 meters along route # Maximum depth: 2139.773049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.931115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965919; longitude = -129.083193; captureRadius = 10; duration = 101; initialDepth = 2029.164131; finalDepth = 2038.931115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.6412949999999 # Actual altitude: 91.6412949999999 # Commanded vehicle depth:2038.931115 # Seafloor depth:-2124.468108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.33; 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 101.015125 meters # Minimum depth: 2104.164131 meters looking forward 200.000000 meters along route # Maximum depth: 2122.350431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.164131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966510; longitude = -129.082122; captureRadius = 10; duration = 101; initialDepth = 2026.724449; finalDepth = 2029.164131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5369930000002 # Actual altitude: 85.5369930000002 # Commanded vehicle depth:2029.164131 # Seafloor depth:-2112.959772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.11; MB_Bottom_Detect_Filter_Max_Range = 342.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.15; 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 101.015125 meters # Minimum depth: 2101.724449 meters looking forward 200.000000 meters along route # Maximum depth: 2111.940070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.724449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967126; longitude = -129.081007; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2020.743745; finalDepth = 2026.724449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7956410000002 # Actual altitude: 83.7956410000002 # Commanded vehicle depth:2026.724449 # Seafloor depth:-2103.692566 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 335.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2095.743745 meters looking forward 200.000000 meters along route # Maximum depth: 2103.352906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.743745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967971; longitude = -129.080516; captureRadius = 10; duration = 101; initialDepth = 2016.963422; finalDepth = 2020.743745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8435179999997 # Actual altitude: 79.8435179999997 # Commanded vehicle depth:2020.743745 # Seafloor depth:-2100.587263 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.97; MB_Bottom_Detect_Filter_Max_Range = 319.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2091.963422 meters looking forward 200.000000 meters along route # Maximum depth: 2099.229244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.963422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968891; longitude = -129.079980; captureRadius = 10; duration = 101; initialDepth = 2016.771750; finalDepth = 2016.963422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8435179999997 # Actual altitude: 79.8435179999997 # Commanded vehicle depth:2016.963422 # Seafloor depth:-2094.755914 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.97; MB_Bottom_Detect_Filter_Max_Range = 319.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2091.771750 meters looking forward 200.000000 meters along route # Maximum depth: 2093.804681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.771750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969812; longitude = -129.079445; captureRadius = 10; duration = 101; initialDepth = 2017.176067; finalDepth = 2016.771750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.792492 # Actual altitude: 77.792492 # Commanded vehicle depth:2016.77175 # Seafloor depth:-2091.771750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 311.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2092.176067 meters looking forward 200.000000 meters along route # Maximum depth: 2094.454826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.176067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970733; longitude = -129.078910; captureRadius = 10; duration = 101; initialDepth = 2016.692835; finalDepth = 2017.176067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9926190000001 # Actual altitude: 76.9926190000001 # Commanded vehicle depth:2017.176067 # Seafloor depth:-2094.168686 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 307.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2091.692835 meters looking forward 200.000000 meters along route # Maximum depth: 2094.454826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.692835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971653; longitude = -129.078374; captureRadius = 10; duration = 101; initialDepth = 2015.146665; finalDepth = 2016.692835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9926190000001 # Actual altitude: 76.9926190000001 # Commanded vehicle depth:2016.692835 # Seafloor depth:-2091.929174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 307.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2090.146665 meters looking forward 200.000000 meters along route # Maximum depth: 2092.172773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.146665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972574; longitude = -129.077839; captureRadius = 10; duration = 101; initialDepth = 2015.146665; finalDepth = 2015.146665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5041679999999 # Actual altitude: 76.5041679999999 # Commanded vehicle depth:2015.146665 # Seafloor depth:-2091.650833 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 306.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2090.146665 meters looking forward 200.000000 meters along route # Maximum depth: 2091.877645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.146665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973494; longitude = -129.077304; captureRadius = 10; duration = 101; initialDepth = 2016.263782; finalDepth = 2015.146665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5041679999999 # Actual altitude: 76.5041679999999 # Commanded vehicle depth:2015.146665 # Seafloor depth:-2090.416215 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 306.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2091.263782 meters looking forward 200.000000 meters along route # Maximum depth: 2094.474817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.263782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974415; longitude = -129.076768; captureRadius = 10; duration = 101; initialDepth = 2018.368484; finalDepth = 2016.263782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4149259999999 # Actual altitude: 76.4149259999999 # Commanded vehicle depth:2016.263782 # Seafloor depth:-2092.678708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2093.368484 meters looking forward 200.000000 meters along route # Maximum depth: 2094.474817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.368484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975336; longitude = -129.076233; captureRadius = 10; duration = 101; initialDepth = 2018.368484; finalDepth = 2018.368484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4149259999999 # Actual altitude: 76.4149259999999 # Commanded vehicle depth:2018.368484 # Seafloor depth:-2093.724962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2093.368484 meters looking forward 200.000000 meters along route # Maximum depth: 2096.316871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.368484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976256; longitude = -129.075698; captureRadius = 10; duration = 101; initialDepth = 2019.357496; finalDepth = 2018.368484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3564779999997 # Actual altitude: 75.3564779999997 # Commanded vehicle depth:2018.368484 # Seafloor depth:-2093.557561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.07; MB_Bottom_Detect_Filter_Max_Range = 301.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2094.357496 meters looking forward 200.000000 meters along route # Maximum depth: 2104.424333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.357496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977177; longitude = -129.075162; captureRadius = 10; duration = 101; initialDepth = 2024.572586; finalDepth = 2019.357496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1728079999998 # Actual altitude: 78.1728079999998 # Commanded vehicle depth:2019.357496 # Seafloor depth:-2097.530304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2099.572586 meters looking forward 200.000000 meters along route # Maximum depth: 2113.340998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.572586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978098; longitude = -129.074627; captureRadius = 10; duration = 101; initialDepth = 2034.578781; finalDepth = 2024.572586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4286000000002 # Actual altitude: 82.4286000000002 # Commanded vehicle depth:2024.572586 # Seafloor depth:-2107.001186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 329.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2109.578781 meters looking forward 200.000000 meters along route # Maximum depth: 2116.190498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.578781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979018; longitude = -129.074092; captureRadius = 10; duration = 101; initialDepth = 2037.662888; finalDepth = 2034.578781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4286000000002 # Actual altitude: 82.4286000000002 # Commanded vehicle depth:2034.578781 # Seafloor depth:-2112.638493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 329.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2112.662888 meters looking forward 200.000000 meters along route # Maximum depth: 2124.433502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.662888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979939; longitude = -129.073556; captureRadius = 10; duration = 101; initialDepth = 2046.747349; finalDepth = 2037.662888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2924390000003 # Actual altitude: 81.2924390000003 # Commanded vehicle depth:2037.662888 # Seafloor depth:-2118.955327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.26; MB_Bottom_Detect_Filter_Max_Range = 325.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2121.747349 meters looking forward 200.000000 meters along route # Maximum depth: 2126.284612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.747349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980859; longitude = -129.073021; captureRadius = 10; duration = 101; initialDepth = 2051.049574; finalDepth = 2046.747349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2924390000003 # Actual altitude: 81.2924390000003 # Commanded vehicle depth:2046.747349 # Seafloor depth:-2125.347711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.26; MB_Bottom_Detect_Filter_Max_Range = 325.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2126.049574 meters looking forward 200.000000 meters along route # Maximum depth: 2128.288755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.049574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981780; longitude = -129.072486; captureRadius = 10; duration = 101; initialDepth = 2052.668286; finalDepth = 2051.049574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.6003619999997 # Actual altitude: 78.6003619999997 # Commanded vehicle depth:2051.049574 # Seafloor depth:-2126.730839 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2127.668286 meters looking forward 200.000000 meters along route # Maximum depth: 2129.255372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.668286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982701; longitude = -129.071950; captureRadius = 10; duration = 101; initialDepth = 2053.904167; finalDepth = 2052.668286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1937459999999 # Actual altitude: 76.1937459999999 # Commanded vehicle depth:2052.668286 # Seafloor depth:-2128.862032 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 304.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2128.904167 meters looking forward 200.000000 meters along route # Maximum depth: 2130.457681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.904167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983621; longitude = -129.071415; captureRadius = 10; duration = 101; initialDepth = 2054.924018; finalDepth = 2053.904167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1937459999999 # Actual altitude: 76.1937459999999 # Commanded vehicle depth:2053.904167 # Seafloor depth:-2129.457612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 304.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2129.924018 meters looking forward 200.000000 meters along route # Maximum depth: 2130.521805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.924018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984542; longitude = -129.070880; captureRadius = 10; duration = 101; initialDepth = 2054.873828; finalDepth = 2054.924018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.553445 # Actual altitude: 75.553445 # Commanded vehicle depth:2054.924018 # Seafloor depth:-2130.203296 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2129.873828 meters looking forward 200.000000 meters along route # Maximum depth: 2131.861180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.873828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985463; longitude = -129.070344; captureRadius = 10; duration = 101; initialDepth = 2054.989937; finalDepth = 2054.873828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.279278 # Actual altitude: 75.279278 # Commanded vehicle depth:2054.873828 # Seafloor depth:-2129.873828 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 301.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2129.989937 meters looking forward 200.000000 meters along route # Maximum depth: 2133.096210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.989937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986383; longitude = -129.069809; captureRadius = 10; duration = 101; initialDepth = 2057.792208; finalDepth = 2054.989937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2935860000002 # Actual altitude: 77.2935860000002 # Commanded vehicle depth:2054.989937 # Seafloor depth:-2132.283523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2132.792208 meters looking forward 200.000000 meters along route # Maximum depth: 2137.984687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.792208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987304; longitude = -129.069274; captureRadius = 10; duration = 101; initialDepth = 2059.896231; finalDepth = 2057.792208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2935860000002 # Actual altitude: 77.2935860000002 # Commanded vehicle depth:2057.792208 # Seafloor depth:-2133.608842 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2134.896231 meters looking forward 200.000000 meters along route # Maximum depth: 2139.404779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.896231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988225; longitude = -129.068738; captureRadius = 10; duration = 101; initialDepth = 2058.351577; finalDepth = 2059.896231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2844099999998 # Actual altitude: 79.2844099999998 # Commanded vehicle depth:2059.896231 # Seafloor depth:-2139.180641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 317.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2133.351577 meters looking forward 200.000000 meters along route # Maximum depth: 2139.404779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.351577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989145; longitude = -129.068203; captureRadius = 10; duration = 101; initialDepth = 2058.351577; finalDepth = 2058.351577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2844099999998 # Actual altitude: 79.2844099999998 # Commanded vehicle depth:2058.351577 # Seafloor depth:-2135.875098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 317.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2133.351577 meters looking forward 200.000000 meters along route # Maximum depth: 2141.167166 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.351577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990066; longitude = -129.067668; captureRadius = 10; duration = 101; initialDepth = 2060.186845; finalDepth = 2058.351577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5235210000001 # Actual altitude: 77.5235210000001 # Commanded vehicle depth:2058.351577 # Seafloor depth:-2134.006198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 310.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2135.186845 meters looking forward 200.000000 meters along route # Maximum depth: 2155.115249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.186845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990986; longitude = -129.067132; captureRadius = 10; duration = 101; initialDepth = 2074.151091; finalDepth = 2060.186845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1383809999998 # Actual altitude: 85.1383809999998 # Commanded vehicle depth:2060.186845 # Seafloor depth:-2145.325226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 340.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2149.151091 meters looking forward 200.000000 meters along route # Maximum depth: 2156.879254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.151091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991907; longitude = -129.066597; captureRadius = 10; duration = 101; initialDepth = 2080.724320; finalDepth = 2074.151091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1383809999998 # Actual altitude: 85.1383809999998 # Commanded vehicle depth:2074.151091 # Seafloor depth:-2155.473998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 340.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2155.724320 meters looking forward 200.000000 meters along route # Maximum depth: 2157.723825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.724320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992828; longitude = -129.066062; captureRadius = 10; duration = 101; initialDepth = 2082.409950; finalDepth = 2080.724320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3229069999998 # Actual altitude: 81.3229069999998 # Commanded vehicle depth:2080.72432 # Seafloor depth:-2157.308673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.26; MB_Bottom_Detect_Filter_Max_Range = 325.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2157.409950 meters looking forward 200.000000 meters along route # Maximum depth: 2160.568605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.409950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993748; longitude = -129.065526; captureRadius = 10; duration = 101; initialDepth = 2084.271664; finalDepth = 2082.409950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5843530000002 # Actual altitude: 76.5843530000002 # Commanded vehicle depth:2082.40995 # Seafloor depth:-2157.936429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2159.271664 meters looking forward 200.000000 meters along route # Maximum depth: 2163.438172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.271664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994669; longitude = -129.064991; captureRadius = 10; duration = 101; initialDepth = 2087.423585; finalDepth = 2084.271664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0705809999999 # Actual altitude: 77.0705809999999 # Commanded vehicle depth:2084.271664 # Seafloor depth:-2161.342245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2162.423585 meters looking forward 200.000000 meters along route # Maximum depth: 2166.846077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.423585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995590; longitude = -129.064456; captureRadius = 10; duration = 101; initialDepth = 2090.509538; finalDepth = 2087.423585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1402090000001 # Actual altitude: 77.1402090000001 # Commanded vehicle depth:2087.423585 # Seafloor depth:-2164.563794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2165.509538 meters looking forward 200.000000 meters along route # Maximum depth: 2169.669402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.509538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996510; longitude = -129.063920; captureRadius = 10; duration = 101; initialDepth = 2093.873530; finalDepth = 2090.509538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3212250000001 # Actual altitude: 77.3212250000001 # Commanded vehicle depth:2090.509538 # Seafloor depth:-2167.830763 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.015125 meters # Minimum depth: 2168.873530 meters looking forward 200.000000 meters along route # Maximum depth: 2172.835172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.873530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997431; longitude = -129.063385; captureRadius = 10; duration = 101; initialDepth = 2094.973457; finalDepth = 2093.873530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3212250000001 # Actual altitude: 77.3212250000001 # Commanded vehicle depth:2093.87353 # Seafloor depth:-2169.973457 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 101.015125 meters # Minimum depth: 2169.973457 meters looking forward 200.000000 meters along route # Maximum depth: 2175.774247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.973457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998275; longitude = -129.062894; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2090.461475; finalDepth = 2094.973457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.6305469999998 # Actual altitude: 78.6305469999998 # Commanded vehicle depth:2094.973457 # Seafloor depth:-2173.604004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 314.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 101.015125 meters # Minimum depth: 2165.461475 meters looking forward 200.000000 meters along route # Maximum depth: 2175.774247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.461475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998537; longitude = -129.063786; captureRadius = 10; duration = 101; initialDepth = 2089.767090; finalDepth = 2090.461475; 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: 85.2856710000001 # Actual altitude: 85.2856710000001 # Commanded vehicle depth:2090.461475 # Seafloor depth:-2175.747146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 341.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 101.015125 meters # Minimum depth: 2164.767090 meters looking forward 200.000000 meters along route # Maximum depth: 2175.774247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.767090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998905; longitude = -129.065036; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2088.752225; finalDepth = 2089.767090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2856710000001 # Actual altitude: 85.2856710000001 # Commanded vehicle depth:2089.76709 # Seafloor depth:-2164.767090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 341.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2163.752225 meters looking forward 200.000000 meters along route # Maximum depth: 2174.247425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.752225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998751; longitude = -129.065125; captureRadius = 10; duration = 101; initialDepth = 2087.779348; finalDepth = 2088.752225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2279669999998 # Actual altitude: 75.2279669999998 # Commanded vehicle depth:2088.752225 # Seafloor depth:-2163.980192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 300.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2162.779348 meters looking forward 200.000000 meters along route # Maximum depth: 2164.228353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.779348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997821; longitude = -129.065660; captureRadius = 10; duration = 101; initialDepth = 2085.682046; finalDepth = 2087.779348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4490049999999 # Actual altitude: 76.4490049999999 # Commanded vehicle depth:2087.779348 # Seafloor depth:-2164.228353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2160.682046 meters looking forward 200.000000 meters along route # Maximum depth: 2163.674657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.682046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996891; longitude = -129.066195; captureRadius = 10; duration = 101; initialDepth = 2084.261404; finalDepth = 2085.682046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.799289 # Actual altitude: 77.799289 # Commanded vehicle depth:2085.682046 # Seafloor depth:-2163.481335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 311.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2159.261404 meters looking forward 200.000000 meters along route # Maximum depth: 2163.674657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.261404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995962; longitude = -129.066731; captureRadius = 10; duration = 101; initialDepth = 2084.261404; finalDepth = 2084.261404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.799289 # Actual altitude: 77.799289 # Commanded vehicle depth:2084.261404 # Seafloor depth:-2159.543741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 311.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2159.261404 meters looking forward 200.000000 meters along route # Maximum depth: 2161.796689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.261404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995032; longitude = -129.067266; captureRadius = 10; duration = 101; initialDepth = 2086.413558; finalDepth = 2084.261404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9635830000002 # Actual altitude: 76.9635830000002 # Commanded vehicle depth:2084.261404 # Seafloor depth:-2161.224987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2161.413558 meters looking forward 200.000000 meters along route # Maximum depth: 2162.194367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.413558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994102; longitude = -129.067801; captureRadius = 10; duration = 101; initialDepth = 2082.008673; finalDepth = 2086.413558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9635830000002 # Actual altitude: 76.9635830000002 # Commanded vehicle depth:2086.413558 # Seafloor depth:-2161.719181 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2157.008673 meters looking forward 200.000000 meters along route # Maximum depth: 2162.194367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.008673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993173; longitude = -129.068337; captureRadius = 10; duration = 101; initialDepth = 2073.450781; finalDepth = 2082.008673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2038630000002 # Actual altitude: 78.2038630000002 # Commanded vehicle depth:2082.008673 # Seafloor depth:-2160.212536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2148.450781 meters looking forward 200.000000 meters along route # Maximum depth: 2158.640253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.450781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992243; longitude = -129.068872; captureRadius = 10; duration = 101; initialDepth = 2070.029868; finalDepth = 2073.450781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1920319999999 # Actual altitude: 81.1920319999999 # Commanded vehicle depth:2073.450781 # Seafloor depth:-2154.642813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2145.029868 meters looking forward 200.000000 meters along route # Maximum depth: 2151.253642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.029868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991313; longitude = -129.069407; captureRadius = 10; duration = 101; initialDepth = 2070.029868; finalDepth = 2070.029868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1920319999999 # Actual altitude: 81.1920319999999 # Commanded vehicle depth:2070.029868 # Seafloor depth:-2148.165696 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2145.029868 meters looking forward 200.000000 meters along route # Maximum depth: 2147.373923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.029868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990383; longitude = -129.069943; captureRadius = 10; duration = 101; initialDepth = 2070.169029; finalDepth = 2070.029868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1358279999999 # Actual altitude: 78.1358279999999 # Commanded vehicle depth:2070.029868 # Seafloor depth:-2145.379633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2145.169029 meters looking forward 200.000000 meters along route # Maximum depth: 2146.826958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.169029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989454; longitude = -129.070478; captureRadius = 10; duration = 101; initialDepth = 2069.247399; finalDepth = 2070.169029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5472059999997 # Actual altitude: 75.5472059999997 # Commanded vehicle depth:2070.169029 # Seafloor depth:-2145.716235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2144.247399 meters looking forward 200.000000 meters along route # Maximum depth: 2146.826958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.247399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988524; longitude = -129.071014; captureRadius = 10; duration = 101; initialDepth = 2069.247399; finalDepth = 2069.247399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5472059999997 # Actual altitude: 75.5472059999997 # Commanded vehicle depth:2069.247399 # Seafloor depth:-2144.773696 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2144.247399 meters looking forward 200.000000 meters along route # Maximum depth: 2150.591649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.247399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987594; longitude = -129.071549; captureRadius = 10; duration = 101; initialDepth = 2071.828074; finalDepth = 2069.247399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2595329999999 # Actual altitude: 79.2595329999999 # Commanded vehicle depth:2069.247399 # Seafloor depth:-2148.506932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 317.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2146.828074 meters looking forward 200.000000 meters along route # Maximum depth: 2150.591649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.828074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986664; longitude = -129.072084; captureRadius = 10; duration = 101; initialDepth = 2070.370844; finalDepth = 2071.828074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2595329999999 # Actual altitude: 79.2595329999999 # Commanded vehicle depth:2071.828074 # Seafloor depth:-2150.201825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 317.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2145.370844 meters looking forward 200.000000 meters along route # Maximum depth: 2148.889359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.370844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985735; longitude = -129.072620; captureRadius = 10; duration = 101; initialDepth = 2070.370844; finalDepth = 2070.370844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3737510000001 # Actual altitude: 78.3737510000001 # Commanded vehicle depth:2070.370844 # Seafloor depth:-2146.273344 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2145.370844 meters looking forward 200.000000 meters along route # Maximum depth: 2147.379475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.370844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984805; longitude = -129.073155; captureRadius = 10; duration = 101; initialDepth = 2071.840963; finalDepth = 2070.370844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7321670000001 # Actual altitude: 76.7321670000001 # Commanded vehicle depth:2070.370844 # Seafloor depth:-2147.103011 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 306.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2146.840963 meters looking forward 200.000000 meters along route # Maximum depth: 2154.882507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.840963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983875; longitude = -129.073690; captureRadius = 10; duration = 101; initialDepth = 2075.822095; finalDepth = 2071.840963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.247738 # Actual altitude: 78.247738 # Commanded vehicle depth:2071.840963 # Seafloor depth:-2150.088701 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 312.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2150.822095 meters looking forward 200.000000 meters along route # Maximum depth: 2154.882507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.822095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982945; longitude = -129.074226; captureRadius = 10; duration = 101; initialDepth = 2075.391204; finalDepth = 2075.822095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.967799 # Actual altitude: 78.967799 # Commanded vehicle depth:2075.822095 # Seafloor depth:-2154.789894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2150.391204 meters looking forward 200.000000 meters along route # Maximum depth: 2156.345797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.391204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982016; longitude = -129.074761; captureRadius = 10; duration = 101; initialDepth = 2076.417108; finalDepth = 2075.391204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.967799 # Actual altitude: 78.967799 # Commanded vehicle depth:2075.391204 # Seafloor depth:-2150.391204 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2151.417108 meters looking forward 200.000000 meters along route # Maximum depth: 2158.270391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.417108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981086; longitude = -129.075296; captureRadius = 10; duration = 101; initialDepth = 2081.490969; finalDepth = 2076.417108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8532829999999 # Actual altitude: 81.8532829999999 # Commanded vehicle depth:2076.417108 # Seafloor depth:-2158.270391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 327.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2156.490969 meters looking forward 200.000000 meters along route # Maximum depth: 2160.931512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.490969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980156; longitude = -129.075832; captureRadius = 10; duration = 101; initialDepth = 2083.131506; finalDepth = 2081.490969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8532829999999 # Actual altitude: 81.8532829999999 # Commanded vehicle depth:2081.490969 # Seafloor depth:-2156.874892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 327.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2158.131506 meters looking forward 200.000000 meters along route # Maximum depth: 2160.931512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.131506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979227; longitude = -129.076367; captureRadius = 10; duration = 101; initialDepth = 2083.076987; finalDepth = 2083.131506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3721559999999 # Actual altitude: 77.3721559999999 # Commanded vehicle depth:2083.131506 # Seafloor depth:-2160.503662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2158.076987 meters looking forward 200.000000 meters along route # Maximum depth: 2160.629246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.076987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978297; longitude = -129.076902; captureRadius = 10; duration = 101; initialDepth = 2081.669402; finalDepth = 2083.076987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3721559999999 # Actual altitude: 77.3721559999999 # Commanded vehicle depth:2083.076987 # Seafloor depth:-2159.144616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2156.669402 meters looking forward 200.000000 meters along route # Maximum depth: 2158.522695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.669402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977367; longitude = -129.077438; captureRadius = 10; duration = 101; initialDepth = 2076.907278; finalDepth = 2081.669402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0676290000001 # Actual altitude: 76.0676290000001 # Commanded vehicle depth:2081.669402 # Seafloor depth:-2157.309725 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2151.907278 meters looking forward 200.000000 meters along route # Maximum depth: 2157.084252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.907278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976437; longitude = -129.077973; captureRadius = 10; duration = 101; initialDepth = 2074.599687; finalDepth = 2076.907278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4115939999997 # Actual altitude: 78.4115939999997 # Commanded vehicle depth:2076.907278 # Seafloor depth:-2155.318872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 313.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2149.599687 meters looking forward 200.000000 meters along route # Maximum depth: 2152.837694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.599687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975508; longitude = -129.078508; captureRadius = 10; duration = 101; initialDepth = 2068.180537; finalDepth = 2074.599687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4115939999997 # Actual altitude: 78.4115939999997 # Commanded vehicle depth:2074.599687 # Seafloor depth:-2151.040007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 313.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2143.180537 meters looking forward 200.000000 meters along route # Maximum depth: 2150.025933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.180537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974578; longitude = -129.079044; captureRadius = 10; duration = 101; initialDepth = 2063.126246; finalDepth = 2068.180537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5146129999998 # Actual altitude: 81.5146129999998 # Commanded vehicle depth:2068.180537 # Seafloor depth:-2149.695150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 326.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2138.126246 meters looking forward 200.000000 meters along route # Maximum depth: 2147.782485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.126246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973648; longitude = -129.079579; captureRadius = 10; duration = 101; initialDepth = 2057.392408; finalDepth = 2063.126246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5146129999998 # Actual altitude: 81.5146129999998 # Commanded vehicle depth:2063.126246 # Seafloor depth:-2141.289810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 326.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2132.392408 meters looking forward 200.000000 meters along route # Maximum depth: 2139.895643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.392408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972718; longitude = -129.080114; captureRadius = 10; duration = 101; initialDepth = 2057.392408; finalDepth = 2057.392408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2728389999997 # Actual altitude: 78.2728389999997 # Commanded vehicle depth:2057.392408 # Seafloor depth:-2135.665247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 313.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2132.392408 meters looking forward 200.000000 meters along route # Maximum depth: 2133.627787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.392408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971789; longitude = -129.080650; captureRadius = 10; duration = 101; initialDepth = 2058.194549; finalDepth = 2057.392408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2728389999997 # Actual altitude: 78.2728389999997 # Commanded vehicle depth:2057.392408 # Seafloor depth:-2132.554909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 313.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2133.194549 meters looking forward 200.000000 meters along route # Maximum depth: 2136.031109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.194549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970859; longitude = -129.081185; captureRadius = 10; duration = 101; initialDepth = 2060.105076; finalDepth = 2058.194549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4019940000003 # Actual altitude: 75.4019940000003 # Commanded vehicle depth:2058.194549 # Seafloor depth:-2133.596543 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.61; MB_Rate = 2; MB_Gain = 75; 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 39 # Segment length 101.015125 meters # Minimum depth: 2135.105076 meters looking forward 200.000000 meters along route # Maximum depth: 2139.903712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.105076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969929; longitude = -129.081720; captureRadius = 10; duration = 101; initialDepth = 2062.772869; finalDepth = 2060.105076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9366110000001 # Actual altitude: 75.9366110000001 # Commanded vehicle depth:2060.105076 # Seafloor depth:-2136.041687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2137.772869 meters looking forward 200.000000 meters along route # Maximum depth: 2141.666922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.772869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969000; longitude = -129.082256; captureRadius = 10; duration = 101; initialDepth = 2064.891864; finalDepth = 2062.772869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3477980000002 # Actual altitude: 77.3477980000002 # Commanded vehicle depth:2062.772869 # Seafloor depth:-2140.120667 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2139.891864 meters looking forward 200.000000 meters along route # Maximum depth: 2143.039810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.891864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968070; longitude = -129.082791; captureRadius = 10; duration = 101; initialDepth = 2066.709281; finalDepth = 2064.891864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0243889999997 # Actual altitude: 78.0243889999997 # Commanded vehicle depth:2064.891864 # Seafloor depth:-2142.916253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 312.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2141.709281 meters looking forward 200.000000 meters along route # Maximum depth: 2143.489098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.709281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967140; longitude = -129.083326; captureRadius = 10; duration = 101; initialDepth = 2067.947139; finalDepth = 2066.709281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0243889999997 # Actual altitude: 78.0243889999997 # Commanded vehicle depth:2066.709281 # Seafloor depth:-2142.022724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 312.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 101.015125 meters # Minimum depth: 2142.947139 meters looking forward 200.000000 meters along route # Maximum depth: 2144.765737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.947139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966210; longitude = -129.083862; captureRadius = 10; duration = 101; initialDepth = 2069.163185; finalDepth = 2067.947139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4424210000002 # Actual altitude: 76.4424210000002 # Commanded vehicle depth:2067.947139 # Seafloor depth:-2144.389560 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.77; MB_Rate = 2; MB_Gain = 75; 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 39 # Segment length 101.015125 meters # Minimum depth: 2144.163185 meters looking forward 200.000000 meters along route # Maximum depth: 2153.435801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.163185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965281; longitude = -129.084397; captureRadius = 10; duration = 101; initialDepth = 2069.689648; finalDepth = 2069.163185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.16986 # Actual altitude: 78.16986 # Commanded vehicle depth:2069.163185 # Seafloor depth:-2147.333045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.68; 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 38 # Segment length 101.015125 meters # Minimum depth: 2144.689648 meters looking forward 200.000000 meters along route # Maximum depth: 2176.596313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.689648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964428; longitude = -129.084888; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2078.435801; finalDepth = 2069.689648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6353639999998 # Actual altitude: 84.6353639999998 # Commanded vehicle depth:2069.689648 # Seafloor depth:-2154.325012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.93; MB_Bottom_Detect_Filter_Max_Range = 338.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 101.015125 meters # Minimum depth: 2153.435801 meters looking forward 200.000000 meters along route # Maximum depth: 2191.927074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.435801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964641; longitude = -129.085735; captureRadius = 10; duration = 101; initialDepth = 2079.325012; finalDepth = 2078.435801; 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: 101.814374 # Actual altitude: 100 # Commanded vehicle depth:2078.435801 # Seafloor depth:-2180.250175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 37 # Segment length 101.015125 meters # Minimum depth: 2154.325012 meters looking forward 200.000000 meters along route # Maximum depth: 2191.927074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.325012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964967; longitude = -129.087029; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2084.854404; finalDepth = 2079.325012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.265869 # Actual altitude: 100 # Commanded vehicle depth:2079.325012 # Seafloor depth:-2191.590881 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 37 # Segment length 101.015125 meters # Minimum depth: 2189.099066 meters looking forward 200.000000 meters along route # Maximum depth: 2191.927074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.854404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965122; longitude = -129.086940; captureRadius = 10; duration = 101; initialDepth = 2114.084321; finalDepth = 2084.854404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.265869 # Actual altitude: 100 # Commanded vehicle depth:2084.8544038 # Seafloor depth:-2190.835293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 37 # Segment length 101.015125 meters # Minimum depth: 2189.084321 meters looking forward 200.000000 meters along route # Maximum depth: 2189.946833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.084321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966051; longitude = -129.086405; captureRadius = 10; duration = 101; initialDepth = 2110.330575; finalDepth = 2114.084321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.980889200001 # Actual altitude: 100 # Commanded vehicle depth:2114.084321 # Seafloor depth:-2189.140098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 37 # Segment length 101.015125 meters # Minimum depth: 2185.330575 meters looking forward 200.000000 meters along route # Maximum depth: 2189.870278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.330575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966981; longitude = -129.085869; captureRadius = 10; duration = 101; initialDepth = 2104.985337; finalDepth = 2110.330575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8619060000001 # Actual altitude: 78.8619060000001 # Commanded vehicle depth:2110.330575 # Seafloor depth:-2189.192481 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2179.985337 meters looking forward 200.000000 meters along route # Maximum depth: 2187.390925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.985337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967911; longitude = -129.085334; captureRadius = 10; duration = 101; initialDepth = 2098.584792; finalDepth = 2104.985337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1420439999997 # Actual altitude: 79.1420439999997 # Commanded vehicle depth:2104.985337 # Seafloor depth:-2184.127381 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2173.584792 meters looking forward 200.000000 meters along route # Maximum depth: 2183.098331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.584792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968841; longitude = -129.084799; captureRadius = 10; duration = 101; initialDepth = 2092.985180; finalDepth = 2098.584792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3418790000001 # Actual altitude: 79.3418790000001 # Commanded vehicle depth:2098.584792 # Seafloor depth:-2177.926671 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 317.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2167.985180 meters looking forward 200.000000 meters along route # Maximum depth: 2176.687561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.985180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969770; longitude = -129.084263; captureRadius = 10; duration = 101; initialDepth = 2087.627590; finalDepth = 2092.985180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6661129999998 # Actual altitude: 79.6661129999998 # Commanded vehicle depth:2092.98518 # Seafloor depth:-2172.651293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 318.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2162.627590 meters looking forward 200.000000 meters along route # Maximum depth: 2171.138372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.627590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970700; longitude = -129.083728; captureRadius = 10; duration = 101; initialDepth = 2083.970404; finalDepth = 2087.627590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6661129999998 # Actual altitude: 79.6661129999998 # Commanded vehicle depth:2087.62759 # Seafloor depth:-2166.397073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 318.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2158.970404 meters looking forward 200.000000 meters along route # Maximum depth: 2165.005734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.970404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971630; longitude = -129.083193; captureRadius = 10; duration = 101; initialDepth = 2079.298791; finalDepth = 2083.970404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.769483 # Actual altitude: 78.769483 # Commanded vehicle depth:2083.970404 # Seafloor depth:-2161.165781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2154.298791 meters looking forward 200.000000 meters along route # Maximum depth: 2160.456893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.298791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972560; longitude = -129.082657; captureRadius = 10; duration = 101; initialDepth = 2078.232572; finalDepth = 2079.298791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9996969999997 # Actual altitude: 77.9996969999997 # Commanded vehicle depth:2079.298791 # Seafloor depth:-2157.298488 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 312.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2153.232572 meters looking forward 200.000000 meters along route # Maximum depth: 2155.759087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.232572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973489; longitude = -129.082122; captureRadius = 10; duration = 101; initialDepth = 2075.014082; finalDepth = 2078.232572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9996969999997 # Actual altitude: 77.9996969999997 # Commanded vehicle depth:2078.232572 # Seafloor depth:-2154.599283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 312.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2150.014082 meters looking forward 200.000000 meters along route # Maximum depth: 2154.924638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.014082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974419; longitude = -129.081587; captureRadius = 10; duration = 101; initialDepth = 2072.732279; finalDepth = 2075.014082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3938479999997 # Actual altitude: 76.3938479999997 # Commanded vehicle depth:2075.014082 # Seafloor depth:-2151.407930 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2147.732279 meters looking forward 200.000000 meters along route # Maximum depth: 2150.612966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.732279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975349; longitude = -129.081051; captureRadius = 10; duration = 101; initialDepth = 2072.732279; finalDepth = 2072.732279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6802620000003 # Actual altitude: 76.6802620000003 # Commanded vehicle depth:2072.732279 # Seafloor depth:-2149.412541 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 306.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2147.732279 meters looking forward 200.000000 meters along route # Maximum depth: 2152.037804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.732279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976278; longitude = -129.080516; captureRadius = 10; duration = 101; initialDepth = 2074.561022; finalDepth = 2072.732279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6802620000003 # Actual altitude: 76.6802620000003 # Commanded vehicle depth:2072.732279 # Seafloor depth:-2148.542089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 306.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2149.561022 meters looking forward 200.000000 meters along route # Maximum depth: 2156.870261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.561022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977208; longitude = -129.079980; captureRadius = 10; duration = 101; initialDepth = 2081.719329; finalDepth = 2074.561022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.1704070000001 # Actual altitude: 80.1704070000001 # Commanded vehicle depth:2074.561022 # Seafloor depth:-2154.731429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 320.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2156.719329 meters looking forward 200.000000 meters along route # Maximum depth: 2158.929971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.719329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978138; longitude = -129.079445; captureRadius = 10; duration = 101; initialDepth = 2083.489366; finalDepth = 2081.719329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.1704070000001 # Actual altitude: 80.1704070000001 # Commanded vehicle depth:2081.719329 # Seafloor depth:-2157.935147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 320.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2158.489366 meters looking forward 200.000000 meters along route # Maximum depth: 2161.011846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.489366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979068; longitude = -129.078910; captureRadius = 10; duration = 101; initialDepth = 2082.222578; finalDepth = 2083.489366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2158180000001 # Actual altitude: 76.2158180000001 # Commanded vehicle depth:2083.489366 # Seafloor depth:-2159.092689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 304.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2157.222578 meters looking forward 200.000000 meters along route # Maximum depth: 2161.011846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.222578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979997; longitude = -129.078374; captureRadius = 10; duration = 101; initialDepth = 2080.903293; finalDepth = 2082.222578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9151350000002 # Actual altitude: 76.9151350000002 # Commanded vehicle depth:2082.222578 # Seafloor depth:-2159.137713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2155.903293 meters looking forward 200.000000 meters along route # Maximum depth: 2159.709494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.903293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980927; longitude = -129.077839; captureRadius = 10; duration = 101; initialDepth = 2079.056464; finalDepth = 2080.903293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9151350000002 # Actual altitude: 76.9151350000002 # Commanded vehicle depth:2080.903293 # Seafloor depth:-2155.941777 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2154.056464 meters looking forward 200.000000 meters along route # Maximum depth: 2158.366017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.056464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981857; longitude = -129.077304; captureRadius = 10; duration = 101; initialDepth = 2079.056464; finalDepth = 2079.056464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3095530000001 # Actual altitude: 79.3095530000001 # Commanded vehicle depth:2079.056464 # Seafloor depth:-2158.366017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 317.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2154.056464 meters looking forward 200.000000 meters along route # Maximum depth: 2156.979560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.056464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982787; longitude = -129.076768; captureRadius = 10; duration = 101; initialDepth = 2079.508367; finalDepth = 2079.056464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3095530000001 # Actual altitude: 79.3095530000001 # Commanded vehicle depth:2079.056464 # Seafloor depth:-2154.227205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 317.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2154.508367 meters looking forward 200.000000 meters along route # Maximum depth: 2157.109487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.508367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983716; longitude = -129.076233; captureRadius = 10; duration = 101; initialDepth = 2080.352485; finalDepth = 2079.508367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2849380000002 # Actual altitude: 76.2849380000002 # Commanded vehicle depth:2079.508367 # Seafloor depth:-2155.793305 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2155.352485 meters looking forward 200.000000 meters along route # Maximum depth: 2157.302581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.352485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984646; longitude = -129.075698; captureRadius = 10; duration = 101; initialDepth = 2080.352485; finalDepth = 2080.352485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2849380000002 # Actual altitude: 76.2849380000002 # Commanded vehicle depth:2080.352485 # Seafloor depth:-2155.883322 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2155.352485 meters looking forward 200.000000 meters along route # Maximum depth: 2159.579535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.352485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985576; longitude = -129.075162; captureRadius = 10; duration = 101; initialDepth = 2083.316056; finalDepth = 2080.352485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1314609999999 # Actual altitude: 78.1314609999999 # Commanded vehicle depth:2080.352485 # Seafloor depth:-2158.483946 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2158.316056 meters looking forward 200.000000 meters along route # Maximum depth: 2159.579535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.316056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986505; longitude = -129.074627; captureRadius = 10; duration = 101; initialDepth = 2081.097726; finalDepth = 2083.316056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1314609999999 # Actual altitude: 78.1314609999999 # Commanded vehicle depth:2083.316056 # Seafloor depth:-2159.293330 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2156.097726 meters looking forward 200.000000 meters along route # Maximum depth: 2158.597885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.097726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987435; longitude = -129.074092; captureRadius = 10; duration = 101; initialDepth = 2075.330062; finalDepth = 2081.097726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5001590000002 # Actual altitude: 77.5001590000002 # Commanded vehicle depth:2081.097726 # Seafloor depth:-2158.597885 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 310.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2150.330062 meters looking forward 200.000000 meters along route # Maximum depth: 2158.254530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.330062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988365; longitude = -129.073556; captureRadius = 10; duration = 101; initialDepth = 2071.878294; finalDepth = 2075.330062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9593869999999 # Actual altitude: 79.9593869999999 # Commanded vehicle depth:2075.330062 # Seafloor depth:-2155.289449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 319.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2146.878294 meters looking forward 200.000000 meters along route # Maximum depth: 2153.436462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.878294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989295; longitude = -129.073021; captureRadius = 10; duration = 101; initialDepth = 2064.290666; finalDepth = 2071.878294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9593869999999 # Actual altitude: 79.9593869999999 # Commanded vehicle depth:2071.878294 # Seafloor depth:-2149.504859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 319.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2139.290666 meters looking forward 200.000000 meters along route # Maximum depth: 2149.191824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.290666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990224; longitude = -129.072486; captureRadius = 10; duration = 101; initialDepth = 2063.092302; finalDepth = 2064.290666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0692240000003 # Actual altitude: 80.0692240000003 # Commanded vehicle depth:2064.290666 # Seafloor depth:-2144.359890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2138.092302 meters looking forward 200.000000 meters along route # Maximum depth: 2141.935810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.092302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991154; longitude = -129.071950; captureRadius = 10; duration = 101; initialDepth = 2063.092302; finalDepth = 2063.092302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0692240000003 # Actual altitude: 80.0692240000003 # Commanded vehicle depth:2063.092302 # Seafloor depth:-2139.089984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2138.092302 meters looking forward 200.000000 meters along route # Maximum depth: 2144.901040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.092302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992084; longitude = -129.071415; captureRadius = 10; duration = 101; initialDepth = 2065.822047; finalDepth = 2063.092302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9541589999999 # Actual altitude: 76.9541589999999 # Commanded vehicle depth:2063.092302 # Seafloor depth:-2140.046461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2140.822047 meters looking forward 200.000000 meters along route # Maximum depth: 2153.180860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.822047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993014; longitude = -129.070880; captureRadius = 10; duration = 101; initialDepth = 2074.547000; finalDepth = 2065.822047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0888199999999 # Actual altitude: 82.0888199999999 # Commanded vehicle depth:2065.822047 # Seafloor depth:-2147.910867 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2149.547000 meters looking forward 200.000000 meters along route # Maximum depth: 2162.918194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.547000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993943; longitude = -129.070344; captureRadius = 10; duration = 101; initialDepth = 2083.010734; finalDepth = 2074.547000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0888199999999 # Actual altitude: 82.0888199999999 # Commanded vehicle depth:2074.547 # Seafloor depth:-2155.778305 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2158.010734 meters looking forward 200.000000 meters along route # Maximum depth: 2168.980487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.010734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994873; longitude = -129.069809; captureRadius = 10; duration = 101; initialDepth = 2091.455464; finalDepth = 2083.010734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9303850000001 # Actual altitude: 81.9303850000001 # Commanded vehicle depth:2083.010734 # Seafloor depth:-2164.941119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2166.455464 meters looking forward 200.000000 meters along route # Maximum depth: 2170.703275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.455464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995803; longitude = -129.069274; captureRadius = 10; duration = 101; initialDepth = 2094.974484; finalDepth = 2091.455464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9303850000001 # Actual altitude: 81.9303850000001 # Commanded vehicle depth:2091.455464 # Seafloor depth:-2169.747018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2169.974484 meters looking forward 200.000000 meters along route # Maximum depth: 2176.843378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.974484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996732; longitude = -129.068738; captureRadius = 10; duration = 101; initialDepth = 2097.425584; finalDepth = 2094.974484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2915539999999 # Actual altitude: 78.2915539999999 # Commanded vehicle depth:2094.974484 # Seafloor depth:-2171.190636 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 313.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2172.425584 meters looking forward 200.000000 meters along route # Maximum depth: 2179.744989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.425584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997662; longitude = -129.068203; captureRadius = 10; duration = 101; initialDepth = 2103.053865; finalDepth = 2097.425584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3544769999999 # Actual altitude: 80.3544769999999 # Commanded vehicle depth:2097.425584 # Seafloor depth:-2177.780061 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 321.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.015125 meters # Minimum depth: 2178.053865 meters looking forward 200.000000 meters along route # Maximum depth: 2183.680904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.053865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998592; longitude = -129.067668; captureRadius = 10; duration = 101; initialDepth = 2106.134349; finalDepth = 2103.053865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3544769999999 # Actual altitude: 80.3544769999999 # Commanded vehicle depth:2103.053865 # Seafloor depth:-2181.134349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 321.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.42; 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 36 # Segment length 101.015125 meters # Minimum depth: 2181.134349 meters looking forward 200.000000 meters along route # Maximum depth: 2184.857923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.134349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999444; longitude = -129.067177; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2108.610107; finalDepth = 2106.134349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0804840000001 # Actual altitude: 78.0804840000001 # Commanded vehicle depth:2106.134349 # Seafloor depth:-2183.610107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.015125 meters # Minimum depth: 2183.610107 meters looking forward 200.000000 meters along route # Maximum depth: 2193.797188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.610107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999707; longitude = -129.068069; captureRadius = 10; duration = 101; initialDepth = 2108.610107; finalDepth = 2108.610107; 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: 77.475758 # Actual altitude: 77.475758 # Commanded vehicle depth:2108.610107 # Seafloor depth:-2184.402621 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 309.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 101.015125 meters # Minimum depth: 2183.610107 meters looking forward 200.000000 meters along route # Maximum depth: 2194.285522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.610107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000074; longitude = -129.069318; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2110.800437; finalDepth = 2108.610107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6754150000002 # Actual altitude: 85.6754150000002 # Commanded vehicle depth:2108.610107 # Seafloor depth:-2194.285522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 342.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2185.800437 meters looking forward 200.000000 meters along route # Maximum depth: 2194.547252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.800437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999919; longitude = -129.069407; captureRadius = 10; duration = 101; initialDepth = 2108.174780; finalDepth = 2110.800437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6754150000002 # Actual altitude: 85.6754150000002 # Commanded vehicle depth:2110.800437 # Seafloor depth:-2194.418125 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 342.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2183.174780 meters looking forward 200.000000 meters along route # Maximum depth: 2194.547252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.174780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998989; longitude = -129.069943; captureRadius = 10; duration = 101; initialDepth = 2097.782197; finalDepth = 2108.174780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6176880000003 # Actual altitude: 83.6176880000003 # Commanded vehicle depth:2108.17478 # Seafloor depth:-2189.117871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 334.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2172.782197 meters looking forward 200.000000 meters along route # Maximum depth: 2186.969808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.782197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998059; longitude = -129.070478; captureRadius = 10; duration = 101; initialDepth = 2092.636776; finalDepth = 2097.782197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4749139999999 # Actual altitude: 82.4749139999999 # Commanded vehicle depth:2097.782197 # Seafloor depth:-2180.257111 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 329.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2167.636776 meters looking forward 200.000000 meters along route # Maximum depth: 2177.041987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.636776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997130; longitude = -129.071014; captureRadius = 10; duration = 101; initialDepth = 2086.252160; finalDepth = 2092.636776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4749139999999 # Actual altitude: 82.4749139999999 # Commanded vehicle depth:2092.636776 # Seafloor depth:-2170.923028 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 329.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2161.252160 meters looking forward 200.000000 meters along route # Maximum depth: 2169.386413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.252160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996200; longitude = -129.071549; captureRadius = 10; duration = 101; initialDepth = 2074.960692; finalDepth = 2086.252160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2597409999998 # Actual altitude: 80.2597409999998 # Commanded vehicle depth:2086.25216 # Seafloor depth:-2166.511901 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 321.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2149.960692 meters looking forward 200.000000 meters along route # Maximum depth: 2165.039726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.960692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995270; longitude = -129.072084; captureRadius = 10; duration = 101; initialDepth = 2056.315289; finalDepth = 2074.960692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4012159999997 # Actual altitude: 84.4012159999997 # Commanded vehicle depth:2074.960692 # Seafloor depth:-2159.361908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.88; MB_Bottom_Detect_Filter_Max_Range = 337.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2131.315289 meters looking forward 200.000000 meters along route # Maximum depth: 2157.289364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.315289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994341; longitude = -129.072620; captureRadius = 10; duration = 101; initialDepth = 2051.553916; finalDepth = 2056.315289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.3662099999997 # Actual altitude: 88.3662099999997 # Commanded vehicle depth:2056.315289 # Seafloor depth:-2144.681499 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.67; 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 35 # Segment length 101.015125 meters # Minimum depth: 2126.553916 meters looking forward 200.000000 meters along route # Maximum depth: 2139.784887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.553916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993411; longitude = -129.073155; captureRadius = 10; duration = 101; initialDepth = 2050.023239; finalDepth = 2051.553916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.3662099999997 # Actual altitude: 88.3662099999997 # Commanded vehicle depth:2051.553916 # Seafloor depth:-2128.935009 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.67; 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 35 # Segment length 101.015125 meters # Minimum depth: 2125.023239 meters looking forward 200.000000 meters along route # Maximum depth: 2127.384178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.023239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992481; longitude = -129.073690; captureRadius = 10; duration = 101; initialDepth = 2050.023239; finalDepth = 2050.023239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.381093 # Actual altitude: 77.381093 # Commanded vehicle depth:2050.023239 # Seafloor depth:-2125.666950 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2125.023239 meters looking forward 200.000000 meters along route # Maximum depth: 2131.796317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.023239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991551; longitude = -129.074226; captureRadius = 10; duration = 101; initialDepth = 2054.068249; finalDepth = 2050.023239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.918651 # Actual altitude: 76.918651 # Commanded vehicle depth:2050.023239 # Seafloor depth:-2126.941890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2129.068249 meters looking forward 200.000000 meters along route # Maximum depth: 2138.319141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.068249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990622; longitude = -129.074761; captureRadius = 10; duration = 101; initialDepth = 2058.548801; finalDepth = 2054.068249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.428422 # Actual altitude: 78.428422 # Commanded vehicle depth:2054.068249 # Seafloor depth:-2132.496671 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2133.548801 meters looking forward 200.000000 meters along route # Maximum depth: 2145.182835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.548801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989692; longitude = -129.075296; captureRadius = 10; duration = 101; initialDepth = 2067.923699; finalDepth = 2058.548801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.274058 # Actual altitude: 82.274058 # Commanded vehicle depth:2058.548801 # Seafloor depth:-2140.822859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2142.923699 meters looking forward 200.000000 meters along route # Maximum depth: 2150.505711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.923699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988762; longitude = -129.075832; captureRadius = 10; duration = 101; initialDepth = 2072.368114; finalDepth = 2067.923699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.274058 # Actual altitude: 82.274058 # Commanded vehicle depth:2067.923699 # Seafloor depth:-2146.076791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2147.368114 meters looking forward 200.000000 meters along route # Maximum depth: 2152.912144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.368114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987833; longitude = -129.076367; captureRadius = 10; duration = 101; initialDepth = 2076.239751; finalDepth = 2072.368114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4327940000003 # Actual altitude: 78.4327940000003 # Commanded vehicle depth:2072.368114 # Seafloor depth:-2150.800908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2151.239751 meters looking forward 200.000000 meters along route # Maximum depth: 2154.816668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.239751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986903; longitude = -129.076902; captureRadius = 10; duration = 101; initialDepth = 2072.985290; finalDepth = 2076.239751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4327940000003 # Actual altitude: 78.4327940000003 # Commanded vehicle depth:2076.239751 # Seafloor depth:-2153.958697 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2147.985290 meters looking forward 200.000000 meters along route # Maximum depth: 2154.816668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.985290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985973; longitude = -129.077438; captureRadius = 10; duration = 101; initialDepth = 2063.344007; finalDepth = 2072.985290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.6684970000001 # Actual altitude: 78.6684970000001 # Commanded vehicle depth:2072.98529 # Seafloor depth:-2151.653787 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 314.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2138.344007 meters looking forward 200.000000 meters along route # Maximum depth: 2150.201940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.344007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985044; longitude = -129.077973; captureRadius = 10; duration = 101; initialDepth = 2059.733635; finalDepth = 2063.344007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0497379999997 # Actual altitude: 83.0497379999997 # Commanded vehicle depth:2063.344007 # Seafloor depth:-2146.393745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.61; MB_Bottom_Detect_Filter_Max_Range = 332.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2134.733635 meters looking forward 200.000000 meters along route # Maximum depth: 2143.566457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.733635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984114; longitude = -129.078508; captureRadius = 10; duration = 101; initialDepth = 2059.733635; finalDepth = 2059.733635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0497379999997 # Actual altitude: 83.0497379999997 # Commanded vehicle depth:2059.733635 # Seafloor depth:-2136.876335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.61; MB_Bottom_Detect_Filter_Max_Range = 332.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2134.733635 meters looking forward 200.000000 meters along route # Maximum depth: 2137.810510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.733635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983184; longitude = -129.079044; captureRadius = 10; duration = 101; initialDepth = 2061.405314; finalDepth = 2059.733635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1426999999999 # Actual altitude: 77.1426999999999 # Commanded vehicle depth:2059.733635 # Seafloor depth:-2135.110355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2136.405314 meters looking forward 200.000000 meters along route # Maximum depth: 2139.681698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.405314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982255; longitude = -129.079579; captureRadius = 10; duration = 101; initialDepth = 2063.559713; finalDepth = 2061.405314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8913520000001 # Actual altitude: 76.8913520000001 # Commanded vehicle depth:2061.405314 # Seafloor depth:-2138.296666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2138.559713 meters looking forward 200.000000 meters along route # Maximum depth: 2144.438923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.559713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981325; longitude = -129.080114; captureRadius = 10; duration = 101; initialDepth = 2067.547603; finalDepth = 2063.559713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9986909999998 # Actual altitude: 77.9986909999998 # Commanded vehicle depth:2063.559713 # Seafloor depth:-2141.558404 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 311.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2142.547603 meters looking forward 200.000000 meters along route # Maximum depth: 2145.322226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.547603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980395; longitude = -129.080650; captureRadius = 10; duration = 101; initialDepth = 2069.772990; finalDepth = 2067.547603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9986909999998 # Actual altitude: 77.9986909999998 # Commanded vehicle depth:2067.547603 # Seafloor depth:-2145.322226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 311.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2144.772990 meters looking forward 200.000000 meters along route # Maximum depth: 2146.669500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.772990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979466; longitude = -129.081185; captureRadius = 10; duration = 101; initialDepth = 2070.895317; finalDepth = 2069.772990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7746229999998 # Actual altitude: 77.7746229999998 # Commanded vehicle depth:2069.77299 # Seafloor depth:-2145.765064 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2145.895317 meters looking forward 200.000000 meters along route # Maximum depth: 2146.743867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.895317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978536; longitude = -129.081720; captureRadius = 10; duration = 101; initialDepth = 2071.563379; finalDepth = 2070.895317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9920740000002 # Actual altitude: 75.9920740000002 # Commanded vehicle depth:2070.895317 # Seafloor depth:-2146.372793 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 303.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2146.563379 meters looking forward 200.000000 meters along route # Maximum depth: 2151.785103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.563379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977606; longitude = -129.082256; captureRadius = 10; duration = 101; initialDepth = 2074.395928; finalDepth = 2071.563379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4715179999998 # Actual altitude: 76.4715179999998 # Commanded vehicle depth:2071.563379 # Seafloor depth:-2148.034897 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2149.395928 meters looking forward 200.000000 meters along route # Maximum depth: 2159.139471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.395928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976677; longitude = -129.082791; captureRadius = 10; duration = 101; initialDepth = 2081.738898; finalDepth = 2074.395928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.129277 # Actual altitude: 80.129277 # Commanded vehicle depth:2074.395928 # Seafloor depth:-2154.525205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 320.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2156.738898 meters looking forward 200.000000 meters along route # Maximum depth: 2162.487496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.738898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975747; longitude = -129.083326; captureRadius = 10; duration = 101; initialDepth = 2085.456601; finalDepth = 2081.738898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.129277 # Actual altitude: 80.129277 # Commanded vehicle depth:2081.738898 # Seafloor depth:-2160.188977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 320.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2160.456601 meters looking forward 200.000000 meters along route # Maximum depth: 2163.893209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.456601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974817; longitude = -129.083862; captureRadius = 10; duration = 101; initialDepth = 2088.679671; finalDepth = 2085.456601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4500789999997 # Actual altitude: 78.4500789999997 # Commanded vehicle depth:2085.456601 # Seafloor depth:-2163.632610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2163.679671 meters looking forward 200.000000 meters along route # Maximum depth: 2166.754406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.679671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973887; longitude = -129.084397; captureRadius = 10; duration = 101; initialDepth = 2090.147845; finalDepth = 2088.679671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1760090000002 # Actual altitude: 78.1760090000002 # Commanded vehicle depth:2088.679671 # Seafloor depth:-2164.456907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2165.147845 meters looking forward 200.000000 meters along route # Maximum depth: 2168.492074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.147845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972958; longitude = -129.084932; captureRadius = 10; duration = 101; initialDepth = 2091.874061; finalDepth = 2090.147845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.656062 # Actual altitude: 76.656062 # Commanded vehicle depth:2090.147845 # Seafloor depth:-2166.803907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2166.874061 meters looking forward 200.000000 meters along route # Maximum depth: 2170.763561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.874061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972028; longitude = -129.085468; captureRadius = 10; duration = 101; initialDepth = 2094.708586; finalDepth = 2091.874061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4142240000001 # Actual altitude: 77.4142240000001 # Commanded vehicle depth:2091.874061 # Seafloor depth:-2169.288285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2169.708586 meters looking forward 200.000000 meters along route # Maximum depth: 2172.317560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.708586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971098; longitude = -129.086003; captureRadius = 10; duration = 101; initialDepth = 2096.457925; finalDepth = 2094.708586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4142240000001 # Actual altitude: 77.4142240000001 # Commanded vehicle depth:2094.708586 # Seafloor depth:-2171.088954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2171.457925 meters looking forward 200.000000 meters along route # Maximum depth: 2172.722319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.457925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970169; longitude = -129.086538; captureRadius = 10; duration = 101; initialDepth = 2094.421466; finalDepth = 2096.457925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3803679999996 # Actual altitude: 76.3803679999996 # Commanded vehicle depth:2096.457925 # Seafloor depth:-2172.722319 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2169.421466 meters looking forward 200.000000 meters along route # Maximum depth: 2172.561649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.421466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969239; longitude = -129.087074; captureRadius = 10; duration = 101; initialDepth = 2094.399699; finalDepth = 2094.421466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1384000000003 # Actual altitude: 77.1384000000003 # Commanded vehicle depth:2094.421466 # Seafloor depth:-2171.559866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2169.399699 meters looking forward 200.000000 meters along route # Maximum depth: 2170.856582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.399699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968309; longitude = -129.087609; captureRadius = 10; duration = 101; initialDepth = 2094.935867; finalDepth = 2094.399699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1384000000003 # Actual altitude: 77.1384000000003 # Commanded vehicle depth:2094.399699 # Seafloor depth:-2169.399699 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2169.935867 meters looking forward 200.000000 meters along route # Maximum depth: 2170.771953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.935867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967380; longitude = -129.088144; captureRadius = 10; duration = 101; initialDepth = 2095.419353; finalDepth = 2094.935867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.0078519999997 # Actual altitude: 75.0078519999997 # Commanded vehicle depth:2094.935867 # Seafloor depth:-2169.943719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 300.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.015125 meters # Minimum depth: 2170.419353 meters looking forward 200.000000 meters along route # Maximum depth: 2174.081231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.419353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966450; longitude = -129.088680; captureRadius = 10; duration = 101; initialDepth = 2095.771953; finalDepth = 2095.419353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3355020000004 # Actual altitude: 76.3355020000004 # Commanded vehicle depth:2095.419353 # Seafloor depth:-2171.754855 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 101.015125 meters # Minimum depth: 2170.771953 meters looking forward 200.000000 meters along route # Maximum depth: 2178.035074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.771953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965597; longitude = -129.089171; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2099.081231; finalDepth = 2095.771953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5564770000001 # Actual altitude: 78.5564770000001 # Commanded vehicle depth:2095.771953 # Seafloor depth:-2174.328430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 314.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.015125 meters # Minimum depth: 2174.081231 meters looking forward 200.000000 meters along route # Maximum depth: 2178.739796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.081231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965827; longitude = -129.090018; captureRadius = 10; duration = 101; initialDepth = 2099.081231; finalDepth = 2099.081231; 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: 79.3046709999999 # Actual altitude: 79.3046709999999 # Commanded vehicle depth:2099.081231 # Seafloor depth:-2178.385902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 317.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 101.015125 meters # Minimum depth: 2174.081231 meters looking forward 200.000000 meters along route # Maximum depth: 2178.739796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.081231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966166; longitude = -129.091267; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2100.409737; finalDepth = 2099.081231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3046709999999 # Actual altitude: 79.3046709999999 # Commanded vehicle depth:2099.081231 # Seafloor depth:-2176.022522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 317.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2175.409737 meters looking forward 200.000000 meters along route # Maximum depth: 2178.739796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.409737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966243; longitude = -129.091223; captureRadius = 10; duration = 101; initialDepth = 2098.832169; finalDepth = 2100.409737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9412910000001 # Actual altitude: 76.9412910000001 # Commanded vehicle depth:2100.409737 # Seafloor depth:-2176.137699 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2173.832169 meters looking forward 200.000000 meters along route # Maximum depth: 2176.034023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.832169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967171; longitude = -129.090687; captureRadius = 10; duration = 101; initialDepth = 2095.990180; finalDepth = 2098.832169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1210930000002 # Actual altitude: 76.1210930000002 # Commanded vehicle depth:2098.832169 # Seafloor depth:-2174.953262 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.48; MB_Rate = 2; MB_Gain = 75; 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 33 # Segment length 101.015125 meters # Minimum depth: 2170.990180 meters looking forward 200.000000 meters along route # Maximum depth: 2174.622546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.990180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968100; longitude = -129.090152; captureRadius = 10; duration = 101; initialDepth = 2091.151716; finalDepth = 2095.990180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.738143 # Actual altitude: 76.738143 # Commanded vehicle depth:2095.99018 # Seafloor depth:-2172.728323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 306.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2166.151716 meters looking forward 200.000000 meters along route # Maximum depth: 2171.818917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.151716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969028; longitude = -129.089617; captureRadius = 10; duration = 101; initialDepth = 2089.392099; finalDepth = 2091.151716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5891030000003 # Actual altitude: 78.5891030000003 # Commanded vehicle depth:2091.151716 # Seafloor depth:-2169.740819 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2164.392099 meters looking forward 200.000000 meters along route # Maximum depth: 2168.365043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.392099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969957; longitude = -129.089081; captureRadius = 10; duration = 101; initialDepth = 2088.098288; finalDepth = 2089.392099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5891030000003 # Actual altitude: 78.5891030000003 # Commanded vehicle depth:2089.392099 # Seafloor depth:-2165.163951 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2163.098288 meters looking forward 200.000000 meters along route # Maximum depth: 2164.744484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.098288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970885; longitude = -129.088546; captureRadius = 10; duration = 101; initialDepth = 2083.900514; finalDepth = 2088.098288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6461959999997 # Actual altitude: 76.6461959999997 # Commanded vehicle depth:2088.098288 # Seafloor depth:-2164.744484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2158.900514 meters looking forward 200.000000 meters along route # Maximum depth: 2164.450482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.900514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971814; longitude = -129.088011; captureRadius = 10; duration = 101; initialDepth = 2081.534620; finalDepth = 2083.900514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0674760000002 # Actual altitude: 78.0674760000002 # Commanded vehicle depth:2083.900514 # Seafloor depth:-2161.967990 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2156.534620 meters looking forward 200.000000 meters along route # Maximum depth: 2160.964307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.534620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972742; longitude = -129.087475; captureRadius = 10; duration = 101; initialDepth = 2081.534620; finalDepth = 2081.534620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0674760000002 # Actual altitude: 78.0674760000002 # Commanded vehicle depth:2081.53462 # Seafloor depth:-2158.545486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2156.534620 meters looking forward 200.000000 meters along route # Maximum depth: 2158.095376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.534620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973671; longitude = -129.086940; captureRadius = 10; duration = 101; initialDepth = 2080.753401; finalDepth = 2081.534620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0108660000001 # Actual altitude: 77.0108660000001 # Commanded vehicle depth:2081.53462 # Seafloor depth:-2156.618164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 308.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2155.753401 meters looking forward 200.000000 meters along route # Maximum depth: 2157.878749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.753401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974599; longitude = -129.086405; captureRadius = 10; duration = 101; initialDepth = 2079.235100; finalDepth = 2080.753401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0716849999999 # Actual altitude: 76.0716849999999 # Commanded vehicle depth:2080.753401 # Seafloor depth:-2156.825086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2154.235100 meters looking forward 200.000000 meters along route # Maximum depth: 2156.186464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.235100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975527; longitude = -129.085869; captureRadius = 10; duration = 101; initialDepth = 2078.339368; finalDepth = 2079.235100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9349000000002 # Actual altitude: 76.9349000000002 # Commanded vehicle depth:2079.2351 # Seafloor depth:-2156.170000 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 75; 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 33 # Segment length 101.015125 meters # Minimum depth: 2153.339368 meters looking forward 200.000000 meters along route # Maximum depth: 2155.642142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.339368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976456; longitude = -129.085334; captureRadius = 10; duration = 101; initialDepth = 2077.357024; finalDepth = 2078.339368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9349000000002 # Actual altitude: 76.9349000000002 # Commanded vehicle depth:2078.339368 # Seafloor depth:-2154.386496 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 75; 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 33 # Segment length 101.015125 meters # Minimum depth: 2152.357024 meters looking forward 200.000000 meters along route # Maximum depth: 2154.031917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.357024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977384; longitude = -129.084799; captureRadius = 10; duration = 101; initialDepth = 2076.478817; finalDepth = 2077.357024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0471280000002 # Actual altitude: 76.0471280000002 # Commanded vehicle depth:2077.357024 # Seafloor depth:-2153.319403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2151.478817 meters looking forward 200.000000 meters along route # Maximum depth: 2152.777013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.478817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978313; longitude = -129.084263; captureRadius = 10; duration = 101; initialDepth = 2076.010263; finalDepth = 2076.478817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9623790000001 # Actual altitude: 75.9623790000001 # Commanded vehicle depth:2076.478817 # Seafloor depth:-2152.322664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2151.010263 meters looking forward 200.000000 meters along route # Maximum depth: 2152.979102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.010263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979241; longitude = -129.083728; captureRadius = 10; duration = 101; initialDepth = 2075.317925; finalDepth = 2076.010263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9688389999997 # Actual altitude: 76.9688389999997 # Commanded vehicle depth:2076.010263 # Seafloor depth:-2152.979102 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2150.317925 meters looking forward 200.000000 meters along route # Maximum depth: 2152.539176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.317925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980170; longitude = -129.083193; captureRadius = 10; duration = 101; initialDepth = 2074.702220; finalDepth = 2075.317925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9688389999997 # Actual altitude: 76.9688389999997 # Commanded vehicle depth:2075.317925 # Seafloor depth:-2150.916566 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2149.702220 meters looking forward 200.000000 meters along route # Maximum depth: 2150.677093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.702220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981098; longitude = -129.082657; captureRadius = 10; duration = 101; initialDepth = 2074.032617; finalDepth = 2074.702220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9748729999997 # Actual altitude: 75.9748729999997 # Commanded vehicle depth:2074.70222 # Seafloor depth:-2150.677093 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2149.032617 meters looking forward 200.000000 meters along route # Maximum depth: 2150.226436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.032617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982027; longitude = -129.082122; captureRadius = 10; duration = 101; initialDepth = 2074.032617; finalDepth = 2074.032617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.07224 # Actual altitude: 76.07224 # Commanded vehicle depth:2074.032617 # Seafloor depth:-2150.104857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2149.032617 meters looking forward 200.000000 meters along route # Maximum depth: 2156.154627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.032617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982955; longitude = -129.081587; captureRadius = 10; duration = 101; initialDepth = 2078.673608; finalDepth = 2074.032617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9704260000003 # Actual altitude: 77.9704260000003 # Commanded vehicle depth:2074.032617 # Seafloor depth:-2152.003043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 311.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2153.673608 meters looking forward 200.000000 meters along route # Maximum depth: 2156.522888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.673608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983884; longitude = -129.081051; captureRadius = 10; duration = 101; initialDepth = 2080.722378; finalDepth = 2078.673608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9704260000003 # Actual altitude: 77.9704260000003 # Commanded vehicle depth:2078.673608 # Seafloor depth:-2155.982567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 311.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2155.722378 meters looking forward 200.000000 meters along route # Maximum depth: 2156.549319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.722378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984812; longitude = -129.080516; captureRadius = 10; duration = 101; initialDepth = 2077.581178; finalDepth = 2080.722378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.308959 # Actual altitude: 77.308959 # Commanded vehicle depth:2080.722378 # Seafloor depth:-2155.722378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2152.581178 meters looking forward 200.000000 meters along route # Maximum depth: 2156.549319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.581178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985741; longitude = -129.079980; captureRadius = 10; duration = 101; initialDepth = 2077.130848; finalDepth = 2077.581178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7465500000003 # Actual altitude: 78.7465500000003 # Commanded vehicle depth:2077.581178 # Seafloor depth:-2156.327728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 314.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2152.130848 meters looking forward 200.000000 meters along route # Maximum depth: 2155.437774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.130848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986669; longitude = -129.079445; captureRadius = 10; duration = 101; initialDepth = 2078.111447; finalDepth = 2077.130848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7465500000003 # Actual altitude: 78.7465500000003 # Commanded vehicle depth:2077.130848 # Seafloor depth:-2152.130848 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 314.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2153.111447 meters looking forward 200.000000 meters along route # Maximum depth: 2155.897305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.111447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987597; longitude = -129.078910; captureRadius = 10; duration = 101; initialDepth = 2079.835093; finalDepth = 2078.111447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9356049999997 # Actual altitude: 76.9356049999997 # Commanded vehicle depth:2078.111447 # Seafloor depth:-2155.047052 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 75; 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 33 # Segment length 101.015125 meters # Minimum depth: 2154.835093 meters looking forward 200.000000 meters along route # Maximum depth: 2159.099116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.835093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988526; longitude = -129.078374; captureRadius = 10; duration = 101; initialDepth = 2077.972014; finalDepth = 2079.835093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9356049999997 # Actual altitude: 76.9356049999997 # Commanded vehicle depth:2079.835093 # Seafloor depth:-2156.757726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 75; 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 33 # Segment length 101.015125 meters # Minimum depth: 2152.972014 meters looking forward 200.000000 meters along route # Maximum depth: 2159.665368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.972014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989454; longitude = -129.077839; captureRadius = 10; duration = 101; initialDepth = 2065.652682; finalDepth = 2077.972014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.693354 # Actual altitude: 81.693354 # Commanded vehicle depth:2077.972014 # Seafloor depth:-2159.665368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.34; MB_Bottom_Detect_Filter_Max_Range = 326.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2140.652682 meters looking forward 200.000000 meters along route # Maximum depth: 2158.526474 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.652682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990383; longitude = -129.077304; captureRadius = 10; duration = 101; initialDepth = 2049.775957; finalDepth = 2065.652682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7384870000001 # Actual altitude: 84.7384870000001 # Commanded vehicle depth:2065.652682 # Seafloor depth:-2150.391169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.95; MB_Bottom_Detect_Filter_Max_Range = 338.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2124.775957 meters looking forward 200.000000 meters along route # Maximum depth: 2147.810826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.775957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991311; longitude = -129.076768; captureRadius = 10; duration = 101; initialDepth = 2044.905676; finalDepth = 2049.775957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.1292910000002 # Actual altitude: 87.1292910000002 # Commanded vehicle depth:2049.775957 # Seafloor depth:-2136.905248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 348.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2119.905676 meters looking forward 200.000000 meters along route # Maximum depth: 2132.710705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.905676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992240; longitude = -129.076233; captureRadius = 10; duration = 101; initialDepth = 2043.275020; finalDepth = 2044.905676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.1292910000002 # Actual altitude: 87.1292910000002 # Commanded vehicle depth:2044.905676 # Seafloor depth:-2122.873328 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 348.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2118.275020 meters looking forward 200.000000 meters along route # Maximum depth: 2122.027908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.275020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993168; longitude = -129.075698; captureRadius = 10; duration = 101; initialDepth = 2043.275020; finalDepth = 2043.275020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9676520000003 # Actual altitude: 77.9676520000003 # Commanded vehicle depth:2043.27502 # Seafloor depth:-2118.312132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 311.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2118.275020 meters looking forward 200.000000 meters along route # Maximum depth: 2141.350435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.275020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994097; longitude = -129.075162; captureRadius = 10; duration = 101; initialDepth = 2055.364144; finalDepth = 2043.275020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2351559999997 # Actual altitude: 82.2351559999997 # Commanded vehicle depth:2043.27502 # Seafloor depth:-2125.510176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 328.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2130.364144 meters looking forward 200.000000 meters along route # Maximum depth: 2164.821820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.364144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995025; longitude = -129.074627; captureRadius = 10; duration = 101; initialDepth = 2077.857482; finalDepth = 2055.364144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3512569999998 # Actual altitude: 91.3512569999998 # Commanded vehicle depth:2055.364144 # Seafloor depth:-2146.715401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.27; 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 33 # Segment length 101.015125 meters # Minimum depth: 2152.857482 meters looking forward 200.000000 meters along route # Maximum depth: 2175.718012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.857482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995954; longitude = -129.074092; captureRadius = 10; duration = 101; initialDepth = 2097.177262; finalDepth = 2077.857482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3545090000002 # Actual altitude: 91.3545090000002 # Commanded vehicle depth:2077.857482 # Seafloor depth:-2169.211991 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.27; 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 33 # Segment length 101.015125 meters # Minimum depth: 2172.177262 meters looking forward 200.000000 meters along route # Maximum depth: 2175.917428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.177262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996882; longitude = -129.073556; captureRadius = 10; duration = 101; initialDepth = 2098.464188; finalDepth = 2097.177262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3545090000002 # Actual altitude: 91.3545090000002 # Commanded vehicle depth:2097.177262 # Seafloor depth:-2175.917428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.27; 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 33 # Segment length 101.015125 meters # Minimum depth: 2173.464188 meters looking forward 200.000000 meters along route # Maximum depth: 2178.830995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.464188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997811; longitude = -129.073021; captureRadius = 10; duration = 101; initialDepth = 2100.773442; finalDepth = 2098.464188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.740166 # Actual altitude: 78.740166 # Commanded vehicle depth:2098.464188 # Seafloor depth:-2174.244358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 314.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2175.773442 meters looking forward 200.000000 meters along route # Maximum depth: 2189.328357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.773442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998739; longitude = -129.072486; captureRadius = 10; duration = 101; initialDepth = 2112.044290; finalDepth = 2100.773442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.360979 # Actual altitude: 80.360979 # Commanded vehicle depth:2100.773442 # Seafloor depth:-2181.134421 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 321.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.015125 meters # Minimum depth: 2187.044290 meters looking forward 200.000000 meters along route # Maximum depth: 2193.931130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2112.044290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999667; longitude = -129.071950; captureRadius = 10; duration = 101; initialDepth = 2111.641679; finalDepth = 2112.044290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.360979 # Actual altitude: 80.360979 # Commanded vehicle depth:2112.04429 # Seafloor depth:-2191.450131 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 321.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.44; 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 32 # Segment length 101.015125 meters # Minimum depth: 2186.641679 meters looking forward 200.000000 meters along route # Maximum depth: 2193.931130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2111.641679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000674; longitude = -129.071370; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2082.432512; finalDepth = 2111.641679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.731002 # Actual altitude: 80.731002 # Commanded vehicle depth:2111.641679 # Seafloor depth:-2192.372681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 322.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.015125 meters # Minimum depth: 2157.432512 meters looking forward 200.000000 meters along route # Maximum depth: 2192.833691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.432512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000904; longitude = -129.072218; captureRadius = 10; duration = 101; initialDepth = 2080.998535; finalDepth = 2082.432512; 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: 102.725203 # Actual altitude: 100 # Commanded vehicle depth:2082.432512 # Seafloor depth:-2185.157715 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 31 # Segment length 101.015125 meters # Minimum depth: 2155.998535 meters looking forward 200.000000 meters along route # Maximum depth: 2190.041243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.998535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001243; longitude = -129.073467; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2080.998535; finalDepth = 2080.998535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.725203 # Actual altitude: 100 # Commanded vehicle depth:2080.998535 # Seafloor depth:-2155.998535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 31 # Segment length 101.015125 meters # Minimum depth: 2155.998535 meters looking forward 200.000000 meters along route # Maximum depth: 2175.407862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.998535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000854; longitude = -129.073690; captureRadius = 10; duration = 101; initialDepth = 2090.548088; finalDepth = 2080.998535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4124589999997 # Actual altitude: 80.4124589999997 # Commanded vehicle depth:2080.998535 # Seafloor depth:-2161.410994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 321.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2165.548088 meters looking forward 200.000000 meters along route # Maximum depth: 2183.514575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.548088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999923; longitude = -129.074226; captureRadius = 10; duration = 101; initialDepth = 2106.587583; finalDepth = 2090.548088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1438710000002 # Actual altitude: 89.1438710000002 # Commanded vehicle depth:2090.548088 # Seafloor depth:-2179.691959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 31 # Segment length 101.015125 meters # Minimum depth: 2181.587583 meters looking forward 200.000000 meters along route # Maximum depth: 2185.348518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.587583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998991; longitude = -129.074761; captureRadius = 10; duration = 101; initialDepth = 2104.870500; finalDepth = 2106.587583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1438710000002 # Actual altitude: 89.1438710000002 # Commanded vehicle depth:2106.587583 # Seafloor depth:-2184.220067 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 31 # Segment length 101.015125 meters # Minimum depth: 2179.870500 meters looking forward 200.000000 meters along route # Maximum depth: 2185.348518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.870500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998059; longitude = -129.075296; captureRadius = 10; duration = 101; initialDepth = 2084.918619; finalDepth = 2104.870500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.017679 # Actual altitude: 80.017679 # Commanded vehicle depth:2104.8705 # Seafloor depth:-2184.888179 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 320.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2159.918619 meters looking forward 200.000000 meters along route # Maximum depth: 2184.305456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.918619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997127; longitude = -129.075832; captureRadius = 10; duration = 101; initialDepth = 2048.936905; finalDepth = 2084.918619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.1402830000002 # Actual altitude: 91.1402830000002 # Commanded vehicle depth:2084.918619 # Seafloor depth:-2176.058902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.23; 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 31 # Segment length 101.015125 meters # Minimum depth: 2123.936905 meters looking forward 200.000000 meters along route # Maximum depth: 2172.500678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.936905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996196; longitude = -129.076367; captureRadius = 10; duration = 101; initialDepth = 2031.849059; finalDepth = 2048.936905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.699123 # Actual altitude: 100 # Commanded vehicle depth:2048.936905 # Seafloor depth:-2149.636028 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 31 # Segment length 101.015125 meters # Minimum depth: 2106.849059 meters looking forward 200.000000 meters along route # Maximum depth: 2139.854667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.849059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995264; longitude = -129.076902; captureRadius = 10; duration = 101; initialDepth = 2030.432933; finalDepth = 2031.849059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.699123 # Actual altitude: 100 # Commanded vehicle depth:2031.849059 # Seafloor depth:-2117.883007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 31 # Segment length 101.015125 meters # Minimum depth: 2105.432933 meters looking forward 200.000000 meters along route # Maximum depth: 2113.286171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.432933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994332; longitude = -129.077438; captureRadius = 10; duration = 101; initialDepth = 2030.664916; finalDepth = 2030.432933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0339479999998 # Actual altitude: 86.0339479999998 # Commanded vehicle depth:2030.432933 # Seafloor depth:-2105.432933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.21; MB_Bottom_Detect_Filter_Max_Range = 344.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2105.664916 meters looking forward 200.000000 meters along route # Maximum depth: 2109.546547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.664916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993400; longitude = -129.077973; captureRadius = 10; duration = 101; initialDepth = 2031.369610; finalDepth = 2030.664916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1751259999996 # Actual altitude: 78.1751259999996 # Commanded vehicle depth:2030.664916 # Seafloor depth:-2108.840042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2106.369610 meters looking forward 200.000000 meters along route # Maximum depth: 2113.265619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.369610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992469; longitude = -129.078508; captureRadius = 10; duration = 101; initialDepth = 2031.600820; finalDepth = 2031.369610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1751259999996 # Actual altitude: 78.1751259999996 # Commanded vehicle depth:2031.36961 # Seafloor depth:-2106.369610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2106.600820 meters looking forward 200.000000 meters along route # Maximum depth: 2133.120191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.600820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991537; longitude = -129.079044; captureRadius = 10; duration = 101; initialDepth = 2049.154948; finalDepth = 2031.600820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4022970000001 # Actual altitude: 87.4022970000001 # Commanded vehicle depth:2031.60082 # Seafloor depth:-2119.003117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.48; MB_Bottom_Detect_Filter_Max_Range = 349.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2124.154948 meters looking forward 200.000000 meters along route # Maximum depth: 2146.044137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.154948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990605; longitude = -129.079579; captureRadius = 10; duration = 101; initialDepth = 2065.589225; finalDepth = 2049.154948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7537950000001 # Actual altitude: 87.7537950000001 # Commanded vehicle depth:2049.154948 # Seafloor depth:-2136.908743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.55; 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 31 # Segment length 101.015125 meters # Minimum depth: 2140.589225 meters looking forward 200.000000 meters along route # Maximum depth: 2149.087529 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.589225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989673; longitude = -129.080114; captureRadius = 10; duration = 101; initialDepth = 2073.211413; finalDepth = 2065.589225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7537950000001 # Actual altitude: 87.7537950000001 # Commanded vehicle depth:2065.589225 # Seafloor depth:-2147.454644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.55; 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 31 # Segment length 101.015125 meters # Minimum depth: 2148.211413 meters looking forward 200.000000 meters along route # Maximum depth: 2150.984639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.211413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988742; longitude = -129.080650; captureRadius = 10; duration = 101; initialDepth = 2073.789180; finalDepth = 2073.211413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8654189999997 # Actual altitude: 81.8654189999997 # Commanded vehicle depth:2073.211413 # Seafloor depth:-2149.581581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 327.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2148.789180 meters looking forward 200.000000 meters along route # Maximum depth: 2150.984639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.789180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987810; longitude = -129.081185; captureRadius = 10; duration = 101; initialDepth = 2073.789180; finalDepth = 2073.789180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3701679999999 # Actual altitude: 76.3701679999999 # Commanded vehicle depth:2073.78918 # Seafloor depth:-2150.147427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2148.789180 meters looking forward 200.000000 meters along route # Maximum depth: 2152.662304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.789180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986878; longitude = -129.081720; captureRadius = 10; duration = 101; initialDepth = 2075.802902; finalDepth = 2073.789180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4234319999996 # Actual altitude: 77.4234319999996 # Commanded vehicle depth:2073.78918 # Seafloor depth:-2151.212612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2150.802902 meters looking forward 200.000000 meters along route # Maximum depth: 2152.662304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.802902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985946; longitude = -129.082256; captureRadius = 10; duration = 101; initialDepth = 2075.536514; finalDepth = 2075.802902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4234319999996 # Actual altitude: 77.4234319999996 # Commanded vehicle depth:2075.802902 # Seafloor depth:-2151.402095 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2150.536514 meters looking forward 200.000000 meters along route # Maximum depth: 2150.916137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.536514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985015; longitude = -129.082791; captureRadius = 10; duration = 101; initialDepth = 2071.573930; finalDepth = 2075.536514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.599193 # Actual altitude: 75.599193 # Commanded vehicle depth:2075.536514 # Seafloor depth:-2150.592911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 302.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2146.573930 meters looking forward 200.000000 meters along route # Maximum depth: 2150.709292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.573930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984083; longitude = -129.083326; captureRadius = 10; duration = 101; initialDepth = 2068.655713; finalDepth = 2071.573930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1180209999998 # Actual altitude: 78.1180209999998 # Commanded vehicle depth:2071.57393 # Seafloor depth:-2149.691951 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2143.655713 meters looking forward 200.000000 meters along route # Maximum depth: 2148.540676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.655713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983151; longitude = -129.083862; captureRadius = 10; duration = 101; initialDepth = 2065.032057; finalDepth = 2068.655713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1180209999998 # Actual altitude: 78.1180209999998 # Commanded vehicle depth:2068.655713 # Seafloor depth:-2146.485749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2140.032057 meters looking forward 200.000000 meters along route # Maximum depth: 2146.393517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.032057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982219; longitude = -129.084397; captureRadius = 10; duration = 101; initialDepth = 2063.551834; finalDepth = 2065.032057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0807 # Actual altitude: 78.0807 # Commanded vehicle depth:2065.032057 # Seafloor depth:-2143.112757 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2138.551834 meters looking forward 200.000000 meters along route # Maximum depth: 2142.423766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.551834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981288; longitude = -129.084932; captureRadius = 10; duration = 101; initialDepth = 2060.400876; finalDepth = 2063.551834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0807 # Actual altitude: 78.0807 # Commanded vehicle depth:2063.551834 # Seafloor depth:-2139.542259 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2135.400876 meters looking forward 200.000000 meters along route # Maximum depth: 2139.218035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.400876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980356; longitude = -129.085468; captureRadius = 10; duration = 101; initialDepth = 2060.233512; finalDepth = 2060.400876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3374989999998 # Actual altitude: 78.3374989999998 # Commanded vehicle depth:2060.400876 # Seafloor depth:-2138.738375 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2135.233512 meters looking forward 200.000000 meters along route # Maximum depth: 2138.465494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.233512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979424; longitude = -129.086003; captureRadius = 10; duration = 101; initialDepth = 2059.945714; finalDepth = 2060.233512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3374989999998 # Actual altitude: 78.3374989999998 # Commanded vehicle depth:2060.233512 # Seafloor depth:-2135.260539 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2134.945714 meters looking forward 200.000000 meters along route # Maximum depth: 2136.225831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.945714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978492; longitude = -129.086538; captureRadius = 10; duration = 101; initialDepth = 2059.945714; finalDepth = 2059.945714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.0360639999999 # Actual altitude: 75.0360639999999 # Commanded vehicle depth:2059.945714 # Seafloor depth:-2134.981778 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 300.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2134.945714 meters looking forward 200.000000 meters along route # Maximum depth: 2140.813457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.945714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977561; longitude = -129.087074; captureRadius = 10; duration = 101; initialDepth = 2061.272882; finalDepth = 2059.945714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7722050000002 # Actual altitude: 77.7722050000002 # Commanded vehicle depth:2059.945714 # Seafloor depth:-2137.717919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2136.272882 meters looking forward 200.000000 meters along route # Maximum depth: 2140.913903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.272882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976629; longitude = -129.087609; captureRadius = 10; duration = 101; initialDepth = 2060.954247; finalDepth = 2061.272882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6410209999999 # Actual altitude: 79.6410209999999 # Commanded vehicle depth:2061.272882 # Seafloor depth:-2140.913903 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 318.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2135.954247 meters looking forward 200.000000 meters along route # Maximum depth: 2139.655770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.954247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975697; longitude = -129.088144; captureRadius = 10; duration = 101; initialDepth = 2061.568264; finalDepth = 2060.954247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6410209999999 # Actual altitude: 79.6410209999999 # Commanded vehicle depth:2060.954247 # Seafloor depth:-2135.954247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 318.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2136.568264 meters looking forward 200.000000 meters along route # Maximum depth: 2140.676350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.568264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974765; longitude = -129.088680; captureRadius = 10; duration = 101; initialDepth = 2064.241456; finalDepth = 2061.568264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2673209999998 # Actual altitude: 77.2673209999998 # Commanded vehicle depth:2061.568264 # Seafloor depth:-2138.835585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 309.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2139.241456 meters looking forward 200.000000 meters along route # Maximum depth: 2144.749771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.241456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973834; longitude = -129.089215; captureRadius = 10; duration = 101; initialDepth = 2067.463702; finalDepth = 2064.241456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3667459999997 # Actual altitude: 77.3667459999997 # Commanded vehicle depth:2064.241456 # Seafloor depth:-2141.608202 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2142.463702 meters looking forward 200.000000 meters along route # Maximum depth: 2147.043751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.463702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972902; longitude = -129.089750; captureRadius = 10; duration = 101; initialDepth = 2069.551096; finalDepth = 2067.463702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9662309999999 # Actual altitude: 77.9662309999999 # Commanded vehicle depth:2067.463702 # Seafloor depth:-2145.429933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 311.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2144.551096 meters looking forward 200.000000 meters along route # Maximum depth: 2152.023030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.551096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971970; longitude = -129.090286; captureRadius = 10; duration = 101; initialDepth = 2076.477845; finalDepth = 2069.551096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6431749999997 # Actual altitude: 80.6431749999997 # Commanded vehicle depth:2069.551096 # Seafloor depth:-2150.194271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 322.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.015125 meters # Minimum depth: 2151.477845 meters looking forward 200.000000 meters along route # Maximum depth: 2153.340860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.477845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971038; longitude = -129.090821; captureRadius = 10; duration = 101; initialDepth = 2055.183554; finalDepth = 2076.477845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6431749999997 # Actual altitude: 80.6431749999997 # Commanded vehicle depth:2076.477845 # Seafloor depth:-2152.026524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 322.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.57; 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 30 # Segment length 101.015125 meters # Minimum depth: 2130.183554 meters looking forward 200.000000 meters along route # Maximum depth: 2153.525208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.183554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970184; longitude = -129.091312; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2011.155134; finalDepth = 2055.183554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.3416539999998 # Actual altitude: 98.3416539999998 # Commanded vehicle depth:2055.183554 # Seafloor depth:-2153.525208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.67; 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 30 # Segment length 101.015125 meters # Minimum depth: 2086.155134 meters looking forward 200.000000 meters along route # Maximum depth: 2153.525208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.155134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970397; longitude = -129.092160; captureRadius = 10; duration = 101; initialDepth = 2009.300003; finalDepth = 2011.155134; 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: 113.54151 # Actual altitude: 100 # Commanded vehicle depth:2011.155134 # Seafloor depth:-2124.696644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 29 # Segment length 101.015125 meters # Minimum depth: 2084.300003 meters looking forward 200.000000 meters along route # Maximum depth: 2145.603308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.300003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970723; longitude = -129.093453; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2008.165103; finalDepth = 2009.300003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.54151 # Actual altitude: 100 # Commanded vehicle depth:2009.300003 # Seafloor depth:-2085.057312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 29 # Segment length 101.015125 meters # Minimum depth: 2083.165103 meters looking forward 200.000000 meters along route # Maximum depth: 2095.085978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.165103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971110; longitude = -129.093230; captureRadius = 10; duration = 101; initialDepth = 2008.165103; finalDepth = 2008.165103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7573090000001 # Actual altitude: 75.7573090000001 # Commanded vehicle depth:2008.165103 # Seafloor depth:-2083.627391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.15; MB_Bottom_Detect_Filter_Max_Range = 303.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2083.165103 meters looking forward 200.000000 meters along route # Maximum depth: 2086.101244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.165103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972039; longitude = -129.092695; captureRadius = 10; duration = 101; initialDepth = 2009.823510; finalDepth = 2008.165103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7168590000001 # Actual altitude: 75.7168590000001 # Commanded vehicle depth:2008.165103 # Seafloor depth:-2083.881962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 302.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2084.823510 meters looking forward 200.000000 meters along route # Maximum depth: 2088.395010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.823510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972967; longitude = -129.092160; captureRadius = 10; duration = 101; initialDepth = 2011.224152; finalDepth = 2009.823510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1043609999997 # Actual altitude: 76.1043609999997 # Commanded vehicle depth:2009.82351 # Seafloor depth:-2085.927871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2086.224152 meters looking forward 200.000000 meters along route # Maximum depth: 2095.373421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.224152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973896; longitude = -129.091624; captureRadius = 10; duration = 101; initialDepth = 2016.854015; finalDepth = 2011.224152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8537090000004 # Actual altitude: 78.8537090000004 # Commanded vehicle depth:2011.224152 # Seafloor depth:-2090.077861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2091.854015 meters looking forward 200.000000 meters along route # Maximum depth: 2096.549034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.854015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974825; longitude = -129.091089; captureRadius = 10; duration = 101; initialDepth = 2015.276216; finalDepth = 2016.854015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3390840000002 # Actual altitude: 79.3390840000002 # Commanded vehicle depth:2016.854015 # Seafloor depth:-2096.193099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 317.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2090.276216 meters looking forward 200.000000 meters along route # Maximum depth: 2096.549034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.276216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975754; longitude = -129.090554; captureRadius = 10; duration = 101; initialDepth = 2015.276216; finalDepth = 2015.276216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3390840000002 # Actual altitude: 79.3390840000002 # Commanded vehicle depth:2015.276216 # Seafloor depth:-2091.800770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 317.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2090.276216 meters looking forward 200.000000 meters along route # Maximum depth: 2102.755472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.276216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976683; longitude = -129.090018; captureRadius = 10; duration = 101; initialDepth = 2021.387618; finalDepth = 2015.276216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.148956 # Actual altitude: 77.148956 # Commanded vehicle depth:2015.276216 # Seafloor depth:-2092.425172 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2096.387618 meters looking forward 200.000000 meters along route # Maximum depth: 2108.544849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.387618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977612; longitude = -129.089483; captureRadius = 10; duration = 101; initialDepth = 2028.630210; finalDepth = 2021.387618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4285959999997 # Actual altitude: 83.4285959999997 # Commanded vehicle depth:2021.387618 # Seafloor depth:-2104.816214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2103.630210 meters looking forward 200.000000 meters along route # Maximum depth: 2108.544849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.630210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978541; longitude = -129.088947; captureRadius = 10; duration = 101; initialDepth = 2028.630210; finalDepth = 2028.630210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4285959999997 # Actual altitude: 83.4285959999997 # Commanded vehicle depth:2028.63021 # Seafloor depth:-2108.532174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2103.630210 meters looking forward 200.000000 meters along route # Maximum depth: 2113.087142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.630210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979470; longitude = -129.088412; captureRadius = 10; duration = 101; initialDepth = 2031.799907; finalDepth = 2028.630210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9019640000001 # Actual altitude: 79.9019640000001 # Commanded vehicle depth:2028.63021 # Seafloor depth:-2104.515009 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.98; MB_Bottom_Detect_Filter_Max_Range = 319.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2106.799907 meters looking forward 200.000000 meters along route # Maximum depth: 2122.523189 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.799907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980399; longitude = -129.087877; captureRadius = 10; duration = 101; initialDepth = 2044.726094; finalDepth = 2031.799907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6550569999999 # Actual altitude: 84.6550569999999 # Commanded vehicle depth:2031.799907 # Seafloor depth:-2116.454964 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.93; MB_Bottom_Detect_Filter_Max_Range = 338.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2119.726094 meters looking forward 200.000000 meters along route # Maximum depth: 2122.701222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.726094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981328; longitude = -129.087341; captureRadius = 10; duration = 101; initialDepth = 2041.433445; finalDepth = 2044.726094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6550569999999 # Actual altitude: 84.6550569999999 # Commanded vehicle depth:2044.726094 # Seafloor depth:-2122.579999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.93; MB_Bottom_Detect_Filter_Max_Range = 338.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2116.433445 meters looking forward 200.000000 meters along route # Maximum depth: 2122.701222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.433445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982257; longitude = -129.086806; captureRadius = 10; duration = 101; initialDepth = 2041.433445; finalDepth = 2041.433445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3177900000001 # Actual altitude: 78.3177900000001 # Commanded vehicle depth:2041.433445 # Seafloor depth:-2119.751235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 313.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2116.433445 meters looking forward 200.000000 meters along route # Maximum depth: 2120.478308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.433445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983186; longitude = -129.086271; captureRadius = 10; duration = 101; initialDepth = 2042.479723; finalDepth = 2041.433445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3177900000001 # Actual altitude: 78.3177900000001 # Commanded vehicle depth:2041.433445 # Seafloor depth:-2116.441366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 313.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2117.479723 meters looking forward 200.000000 meters along route # Maximum depth: 2121.153923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.479723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984115; longitude = -129.085735; captureRadius = 10; duration = 101; initialDepth = 2042.525921; finalDepth = 2042.479723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0788740000003 # Actual altitude: 78.0788740000003 # Commanded vehicle depth:2042.479723 # Seafloor depth:-2120.558597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2117.525921 meters looking forward 200.000000 meters along route # Maximum depth: 2121.153923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.525921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985044; longitude = -129.085200; captureRadius = 10; duration = 101; initialDepth = 2038.879673; finalDepth = 2042.525921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.6245079999999 # Actual altitude: 78.6245079999999 # Commanded vehicle depth:2042.525921 # Seafloor depth:-2121.150429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2113.879673 meters looking forward 200.000000 meters along route # Maximum depth: 2120.474956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.879673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985973; longitude = -129.084665; captureRadius = 10; duration = 101; initialDepth = 2035.492268; finalDepth = 2038.879673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.836249 # Actual altitude: 78.836249 # Commanded vehicle depth:2038.879673 # Seafloor depth:-2117.715922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2110.492268 meters looking forward 200.000000 meters along route # Maximum depth: 2117.137714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.492268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986902; longitude = -129.084129; captureRadius = 10; duration = 101; initialDepth = 2031.041232; finalDepth = 2035.492268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.836249 # Actual altitude: 78.836249 # Commanded vehicle depth:2035.492268 # Seafloor depth:-2112.928806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2106.041232 meters looking forward 200.000000 meters along route # Maximum depth: 2112.905154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.041232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987831; longitude = -129.083594; captureRadius = 10; duration = 101; initialDepth = 2031.041232; finalDepth = 2031.041232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7338580000001 # Actual altitude: 77.7338580000001 # Commanded vehicle depth:2031.041232 # Seafloor depth:-2108.775090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 310.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2106.041232 meters looking forward 200.000000 meters along route # Maximum depth: 2113.064992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.041232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988760; longitude = -129.083059; captureRadius = 10; duration = 101; initialDepth = 2030.454336; finalDepth = 2031.041232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8813759999998 # Actual altitude: 78.8813759999998 # Commanded vehicle depth:2031.041232 # Seafloor depth:-2109.922608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2105.454336 meters looking forward 200.000000 meters along route # Maximum depth: 2113.064992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.454336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989689; longitude = -129.082523; captureRadius = 10; duration = 101; initialDepth = 2006.374631; finalDepth = 2030.454336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4046470000003 # Actual altitude: 82.4046470000003 # Commanded vehicle depth:2030.454336 # Seafloor depth:-2112.858983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.48; MB_Bottom_Detect_Filter_Max_Range = 329.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2081.374631 meters looking forward 200.000000 meters along route # Maximum depth: 2111.334381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.374631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990618; longitude = -129.081988; captureRadius = 10; duration = 101; initialDepth = 1992.937196; finalDepth = 2006.374631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.6983310000001 # Actual altitude: 93.6983310000001 # Commanded vehicle depth:2006.374631 # Seafloor depth:-2100.072962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.74; 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 29 # Segment length 101.015125 meters # Minimum depth: 2067.937196 meters looking forward 200.000000 meters along route # Maximum depth: 2092.898100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.937196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991547; longitude = -129.081453; captureRadius = 10; duration = 101; initialDepth = 1986.163834; finalDepth = 1992.937196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.6983310000001 # Actual altitude: 93.6983310000001 # Commanded vehicle depth:1992.937196 # Seafloor depth:-2077.630972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.74; 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 29 # Segment length 101.015125 meters # Minimum depth: 2061.163834 meters looking forward 200.000000 meters along route # Maximum depth: 2074.476276 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1986.163834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992476; longitude = -129.080917; captureRadius = 10; duration = 101; initialDepth = 1983.369675; finalDepth = 1986.163834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6937760000001 # Actual altitude: 84.6937760000001 # Commanded vehicle depth:1986.163834 # Seafloor depth:-2063.351677 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.94; MB_Bottom_Detect_Filter_Max_Range = 338.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2058.369675 meters looking forward 200.000000 meters along route # Maximum depth: 2061.856657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1983.369675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993404; longitude = -129.080382; captureRadius = 10; duration = 101; initialDepth = 1980.458155; finalDepth = 1983.369675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1765620000001 # Actual altitude: 78.1765620000001 # Commanded vehicle depth:1983.369675 # Seafloor depth:-2061.546237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2055.458155 meters looking forward 200.000000 meters along route # Maximum depth: 2060.713861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1980.458155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994333; longitude = -129.079847; captureRadius = 10; duration = 101; initialDepth = 1980.458155; finalDepth = 1980.458155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1765620000001 # Actual altitude: 78.1765620000001 # Commanded vehicle depth:1980.458155 # Seafloor depth:-2058.422203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2055.458155 meters looking forward 200.000000 meters along route # Maximum depth: 2071.391604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1980.458155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995262; longitude = -129.079311; captureRadius = 10; duration = 101; initialDepth = 1985.707211; finalDepth = 1980.458155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2086290000002 # Actual altitude: 78.2086290000002 # Commanded vehicle depth:1980.458155 # Seafloor depth:-2058.666784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2060.707211 meters looking forward 200.000000 meters along route # Maximum depth: 2107.163247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1985.707211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996191; longitude = -129.078776; captureRadius = 10; duration = 101; initialDepth = 2014.415299; finalDepth = 1985.707211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.0792240000001 # Actual altitude: 94.0792240000001 # Commanded vehicle depth:1985.707211 # Seafloor depth:-2079.786435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.82; 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 29 # Segment length 101.015125 meters # Minimum depth: 2089.415299 meters looking forward 200.000000 meters along route # Maximum depth: 2115.055008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2014.415299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997120; longitude = -129.078241; captureRadius = 10; duration = 101; initialDepth = 2031.593463; finalDepth = 2014.415299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.9189550000001 # Actual altitude: 98.9189550000001 # Commanded vehicle depth:2014.415299 # Seafloor depth:-2113.334254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; 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 29 # Segment length 101.015125 meters # Minimum depth: 2106.593463 meters looking forward 200.000000 meters along route # Maximum depth: 2115.055008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.593463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998049; longitude = -129.077705; captureRadius = 10; duration = 101; initialDepth = 2031.593463; finalDepth = 2031.593463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.9189550000001 # Actual altitude: 98.9189550000001 # Commanded vehicle depth:2031.593463 # Seafloor depth:-2110.944514 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; 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 29 # Segment length 101.015125 meters # Minimum depth: 2106.593463 meters looking forward 200.000000 meters along route # Maximum depth: 2113.691317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.593463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998978; longitude = -129.077170; captureRadius = 10; duration = 101; initialDepth = 2036.553238; finalDepth = 2031.593463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3510509999996 # Actual altitude: 79.3510509999996 # Commanded vehicle depth:2031.593463 # Seafloor depth:-2109.505253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 317.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2111.553238 meters looking forward 200.000000 meters along route # Maximum depth: 2119.238404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.553238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999907; longitude = -129.076635; captureRadius = 10; duration = 101; initialDepth = 2042.867499; finalDepth = 2036.553238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1125649999999 # Actual altitude: 79.1125649999999 # Commanded vehicle depth:2036.553238 # Seafloor depth:-2115.665803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.015125 meters # Minimum depth: 2117.867499 meters looking forward 200.000000 meters along route # Maximum depth: 2125.369755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.867499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000836; longitude = -129.076099; captureRadius = 10; duration = 101; initialDepth = 2044.986893; finalDepth = 2042.867499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1125649999999 # Actual altitude: 79.1125649999999 # Commanded vehicle depth:2042.867499 # Seafloor depth:-2119.986893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.45; 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 101.015125 meters # Minimum depth: 2119.986893 meters looking forward 200.000000 meters along route # Maximum depth: 2128.676294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.986893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001843; longitude = -129.075519; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2050.369755; finalDepth = 2044.986893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.186142 # Actual altitude: 81.186142 # Commanded vehicle depth:2044.986893 # Seafloor depth:-2126.173035 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 101.015125 meters # Minimum depth: 2125.369755 meters looking forward 200.000000 meters along route # Maximum depth: 2133.244706 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.369755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002073; longitude = -129.076367; captureRadius = 10; duration = 101; initialDepth = 2050.369755; finalDepth = 2050.369755; 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: 81.186142 # Actual altitude: 81.186142 # Commanded vehicle depth:2050.369755 # Seafloor depth:-2129.089836 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 101.015125 meters # Minimum depth: 2125.369755 meters looking forward 200.000000 meters along route # Maximum depth: 2133.318542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.369755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002412; longitude = -129.077616; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2053.987268; finalDepth = 2050.369755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9487869999998 # Actual altitude: 82.9487869999998 # Commanded vehicle depth:2050.369755 # Seafloor depth:-2133.318542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.59; MB_Bottom_Detect_Filter_Max_Range = 331.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2128.987268 meters looking forward 200.000000 meters along route # Maximum depth: 2133.318542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.987268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002258; longitude = -129.077705; captureRadius = 10; duration = 101; initialDepth = 2040.216677; finalDepth = 2053.987268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9487869999998 # Actual altitude: 82.9487869999998 # Commanded vehicle depth:2053.987268 # Seafloor depth:-2132.497065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.59; MB_Bottom_Detect_Filter_Max_Range = 331.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2115.216677 meters looking forward 200.000000 meters along route # Maximum depth: 2131.519111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.216677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001337; longitude = -129.078241; captureRadius = 10; duration = 101; initialDepth = 2026.976776; finalDepth = 2040.216677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.482051 # Actual altitude: 86.482051 # Commanded vehicle depth:2040.216677 # Seafloor depth:-2126.698728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 345.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2101.976776 meters looking forward 200.000000 meters along route # Maximum depth: 2123.886961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.976776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000415; longitude = -129.078776; captureRadius = 10; duration = 101; initialDepth = 2011.328591; finalDepth = 2026.976776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.482051 # Actual altitude: 86.482051 # Commanded vehicle depth:2026.976776 # Seafloor depth:-2111.554800 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 345.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2086.328591 meters looking forward 200.000000 meters along route # Maximum depth: 2109.225561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.328591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999493; longitude = -129.079311; captureRadius = 10; duration = 101; initialDepth = 1994.346204; finalDepth = 2011.328591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6221930000002 # Actual altitude: 85.6221930000002 # Commanded vehicle depth:2011.328591 # Seafloor depth:-2096.950784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 342.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2069.346204 meters looking forward 200.000000 meters along route # Maximum depth: 2093.172588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.346204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998572; longitude = -129.079847; captureRadius = 10; duration = 101; initialDepth = 1957.000418; finalDepth = 1994.346204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6068209999999 # Actual altitude: 88.6068209999999 # Commanded vehicle depth:1994.346204 # Seafloor depth:-2082.953025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.72; 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 27 # Segment length 101.015125 meters # Minimum depth: 2032.000418 meters looking forward 200.000000 meters along route # Maximum depth: 2079.756697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.000418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997650; longitude = -129.080382; captureRadius = 10; duration = 101; initialDepth = 1912.936690; finalDepth = 1957.000418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.455797 # Actual altitude: 100 # Commanded vehicle depth:1957.000418 # Seafloor depth:-2062.456215 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 27 # Segment length 101.015125 meters # Minimum depth: 1987.936690 meters looking forward 200.000000 meters along route # Maximum depth: 2054.780195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.936690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996728; longitude = -129.080917; captureRadius = 10; duration = 101; initialDepth = 1902.853769; finalDepth = 1912.936690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.455797 # Actual altitude: 100 # Commanded vehicle depth:1912.93669 # Seafloor depth:-2018.177611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 27 # Segment length 101.015125 meters # Minimum depth: 1977.853769 meters looking forward 200.000000 meters along route # Maximum depth: 2006.015056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.853769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995807; longitude = -129.081453; captureRadius = 10; duration = 101; initialDepth = 1902.853769; finalDepth = 1902.853769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.240921 # Actual altitude: 100 # Commanded vehicle depth:1902.853769 # Seafloor depth:-1982.650242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 27 # Segment length 101.015125 meters # Minimum depth: 1977.853769 meters looking forward 200.000000 meters along route # Maximum depth: 1982.347764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.853769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994885; longitude = -129.081988; captureRadius = 10; duration = 101; initialDepth = 1902.976067; finalDepth = 1902.853769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.7964729999999 # Actual altitude: 79.7964729999999 # Commanded vehicle depth:1902.853769 # Seafloor depth:-1981.394701 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 319.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 1977.976067 meters looking forward 200.000000 meters along route # Maximum depth: 1984.130569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.976067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993963; longitude = -129.082523; captureRadius = 10; duration = 101; initialDepth = 1904.426179; finalDepth = 1902.976067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5409319999999 # Actual altitude: 78.5409319999999 # Commanded vehicle depth:1902.976067 # Seafloor depth:-1977.976067 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 314.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 1979.426179 meters looking forward 200.000000 meters along route # Maximum depth: 2007.267670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.426179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993042; longitude = -129.083059; captureRadius = 10; duration = 101; initialDepth = 1919.271461; finalDepth = 1904.426179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4177070000001 # Actual altitude: 84.4177070000001 # Commanded vehicle depth:1904.426179 # Seafloor depth:-1988.843886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.88; MB_Bottom_Detect_Filter_Max_Range = 337.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 1994.271461 meters looking forward 200.000000 meters along route # Maximum depth: 2039.048874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.271461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992120; longitude = -129.083594; captureRadius = 10; duration = 101; initialDepth = 1947.566664; finalDepth = 1919.271461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.8598319999999 # Actual altitude: 95.8598319999999 # Commanded vehicle depth:1919.271461 # Seafloor depth:-2015.131293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.17; 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 27 # Segment length 101.015125 meters # Minimum depth: 2022.566664 meters looking forward 200.000000 meters along route # Maximum depth: 2067.915884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.566664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991198; longitude = -129.084129; captureRadius = 10; duration = 101; initialDepth = 1979.317680; finalDepth = 1947.566664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.5458920000001 # Actual altitude: 99.5458920000001 # Commanded vehicle depth:1947.566664 # Seafloor depth:-2047.112556 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 27 # Segment length 101.015125 meters # Minimum depth: 2054.317680 meters looking forward 200.000000 meters along route # Maximum depth: 2076.113621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1979.317680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990277; longitude = -129.084665; captureRadius = 10; duration = 101; initialDepth = 1998.689522; finalDepth = 1979.317680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.5458920000001 # Actual altitude: 99.5458920000001 # Commanded vehicle depth:1979.31768 # Seafloor depth:-2071.667845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 27 # Segment length 101.015125 meters # Minimum depth: 2073.689522 meters looking forward 200.000000 meters along route # Maximum depth: 2080.505340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.689522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989355; longitude = -129.085200; captureRadius = 10; duration = 101; initialDepth = 2002.683360; finalDepth = 1998.689522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.3501649999998 # Actual altitude: 92.3501649999998 # Commanded vehicle depth:1998.689522 # Seafloor depth:-2077.002538 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.47; 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 27 # Segment length 101.015125 meters # Minimum depth: 2077.683360 meters looking forward 200.000000 meters along route # Maximum depth: 2081.709191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.683360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988433; longitude = -129.085735; captureRadius = 10; duration = 101; initialDepth = 2001.079920; finalDepth = 2002.683360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0258309999999 # Actual altitude: 79.0258309999999 # Commanded vehicle depth:2002.68336 # Seafloor depth:-2081.709191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.81; MB_Bottom_Detect_Filter_Max_Range = 316.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2076.079920 meters looking forward 200.000000 meters along route # Maximum depth: 2081.649055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.079920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987512; longitude = -129.086271; captureRadius = 10; duration = 101; initialDepth = 2001.079920; finalDepth = 2001.079920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0258309999999 # Actual altitude: 79.0258309999999 # Commanded vehicle depth:2001.07992 # Seafloor depth:-2076.909657 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.81; MB_Bottom_Detect_Filter_Max_Range = 316.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2076.079920 meters looking forward 200.000000 meters along route # Maximum depth: 2077.050565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.079920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986590; longitude = -129.086806; captureRadius = 10; duration = 101; initialDepth = 1998.723308; finalDepth = 2001.079920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.829737 # Actual altitude: 75.829737 # Commanded vehicle depth:2001.07992 # Seafloor depth:-2076.728782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 303.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2073.723308 meters looking forward 200.000000 meters along route # Maximum depth: 2077.050565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.723308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985668; longitude = -129.087341; captureRadius = 10; duration = 101; initialDepth = 1998.723308; finalDepth = 1998.723308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7918030000001 # Actual altitude: 77.7918030000001 # Commanded vehicle depth:1998.723308 # Seafloor depth:-2076.515111 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 311.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2073.723308 meters looking forward 200.000000 meters along route # Maximum depth: 2075.813260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.723308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984747; longitude = -129.087877; captureRadius = 10; duration = 101; initialDepth = 1998.615322; finalDepth = 1998.723308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7918030000001 # Actual altitude: 77.7918030000001 # Commanded vehicle depth:1998.723308 # Seafloor depth:-2073.787449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 311.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2073.615322 meters looking forward 200.000000 meters along route # Maximum depth: 2076.438482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.615322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983825; longitude = -129.088412; captureRadius = 10; duration = 101; initialDepth = 1998.615322; finalDepth = 1998.615322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2270779999999 # Actual altitude: 75.2270779999999 # Commanded vehicle depth:1998.615322 # Seafloor depth:-2073.842400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 300.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.05; MB_Bottom_Detect_Filter_Max_Range = 300.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2073.615322 meters looking forward 200.000000 meters along route # Maximum depth: 2082.767126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.615322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982903; longitude = -129.088947; captureRadius = 10; duration = 101; initialDepth = 2003.678796; finalDepth = 1998.615322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.201802 # Actual altitude: 79.201802 # Commanded vehicle depth:1998.615322 # Seafloor depth:-2077.817124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 316.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2078.678796 meters looking forward 200.000000 meters along route # Maximum depth: 2089.820989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.678796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981982; longitude = -129.089483; captureRadius = 10; duration = 101; initialDepth = 2010.863366; finalDepth = 2003.678796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.805601 # Actual altitude: 81.805601 # Commanded vehicle depth:2003.678796 # Seafloor depth:-2085.484397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 327.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2085.863366 meters looking forward 200.000000 meters along route # Maximum depth: 2089.820989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.863366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981060; longitude = -129.090018; captureRadius = 10; duration = 101; initialDepth = 2007.896691; finalDepth = 2010.863366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.805601 # Actual altitude: 81.805601 # Commanded vehicle depth:2010.863366 # Seafloor depth:-2089.745803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 327.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2082.896691 meters looking forward 200.000000 meters along route # Maximum depth: 2089.668587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.896691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980138; longitude = -129.090554; captureRadius = 10; duration = 101; initialDepth = 2007.896691; finalDepth = 2007.896691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8824369999998 # Actual altitude: 78.8824369999998 # Commanded vehicle depth:2007.896691 # Seafloor depth:-2084.558945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.015125 meters # Minimum depth: 2082.896691 meters looking forward 200.000000 meters along route # Maximum depth: 2090.239984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.896691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979217; longitude = -129.091089; captureRadius = 10; duration = 101; initialDepth = 2007.896691; finalDepth = 2007.896691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.119334 # Actual altitude: 77.119334 # Commanded vehicle depth:2007.896691 # Seafloor depth:-2085.016025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 308.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.48; 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 101.015125 meters # Minimum depth: 2082.896691 meters looking forward 200.000000 meters along route # Maximum depth: 2090.239984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.896691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978218; longitude = -129.091669; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 1993.608556; finalDepth = 2007.896691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1246100000003 # Actual altitude: 82.1246100000003 # Commanded vehicle depth:2007.896691 # Seafloor depth:-2090.021301 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2068.608556 meters looking forward 200.000000 meters along route # Maximum depth: 2090.239984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.608556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978247; longitude = -129.091758; captureRadius = 10; duration = 101; initialDepth = 1993.178161; finalDepth = 1993.608556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.973281 # Actual altitude: 94.973281 # Commanded vehicle depth:1993.608556 # Seafloor depth:-2088.581837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.99; 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 26 # Segment length 101.015125 meters # Minimum depth: 2068.178161 meters looking forward 200.000000 meters along route # Maximum depth: 2085.199905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.178161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978642; longitude = -129.092963; captureRadius = 10; duration = 101; initialDepth = 1993.178161; finalDepth = 1993.178161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.973281 # Actual altitude: 94.973281 # Commanded vehicle depth:1993.178161 # Seafloor depth:-2068.247784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.99; 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 26 # Segment length 101.015125 meters # Minimum depth: 2068.178161 meters looking forward 200.000000 meters along route # Maximum depth: 2079.465416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.178161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979038; longitude = -129.094167; captureRadius = 10; duration = 101; initialDepth = 1998.525099; finalDepth = 1993.178161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.7879520000001 # Actual altitude: 79.7879520000001 # Commanded vehicle depth:1993.178161 # Seafloor depth:-2072.966113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 319.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2073.525099 meters looking forward 200.000000 meters along route # Maximum depth: 2081.956021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.525099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979433; longitude = -129.095372; captureRadius = 10; duration = 101; initialDepth = 2005.149736; finalDepth = 1998.525099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3756739999999 # Actual altitude: 81.3756739999999 # Commanded vehicle depth:1998.525099 # Seafloor depth:-2079.900773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.28; MB_Bottom_Detect_Filter_Max_Range = 325.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2080.149736 meters looking forward 200.000000 meters along route # Maximum depth: 2084.930365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.149736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979828; longitude = -129.096576; captureRadius = 10; duration = 101; initialDepth = 2007.276043; finalDepth = 2005.149736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3756739999999 # Actual altitude: 81.3756739999999 # Commanded vehicle depth:2005.149736 # Seafloor depth:-2082.119812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.28; MB_Bottom_Detect_Filter_Max_Range = 325.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2082.276043 meters looking forward 200.000000 meters along route # Maximum depth: 2090.057999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.276043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980223; longitude = -129.097781; captureRadius = 10; duration = 101; initialDepth = 2010.585280; finalDepth = 2007.276043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0148290000002 # Actual altitude: 78.0148290000002 # Commanded vehicle depth:2007.276043 # Seafloor depth:-2085.290872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 312.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2085.585280 meters looking forward 200.000000 meters along route # Maximum depth: 2109.570156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.585280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980619; longitude = -129.098985; captureRadius = 10; duration = 101; initialDepth = 2018.733252; finalDepth = 2010.585280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.133914 # Actual altitude: 81.133914 # Commanded vehicle depth:2010.58528 # Seafloor depth:-2091.719194 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.23; MB_Bottom_Detect_Filter_Max_Range = 324.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2093.733252 meters looking forward 200.000000 meters along route # Maximum depth: 2120.575956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.733252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981014; longitude = -129.100190; captureRadius = 10; duration = 101; initialDepth = 2037.118359; finalDepth = 2018.733252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.1755229999999 # Actual altitude: 92.1755229999999 # Commanded vehicle depth:2018.733252 # Seafloor depth:-2110.908775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.44; 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 26 # Segment length 101.015125 meters # Minimum depth: 2112.118359 meters looking forward 200.000000 meters along route # Maximum depth: 2126.222618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.118359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981409; longitude = -129.101394; captureRadius = 10; duration = 101; initialDepth = 2047.570831; finalDepth = 2037.118359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.1755229999999 # Actual altitude: 92.1755229999999 # Commanded vehicle depth:2037.118359 # Seafloor depth:-2121.584606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.44; 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 26 # Segment length 101.015125 meters # Minimum depth: 2122.570831 meters looking forward 200.000000 meters along route # Maximum depth: 2134.709216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.570831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981804; longitude = -129.102599; captureRadius = 10; duration = 101; initialDepth = 2052.255992; finalDepth = 2047.570831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4662469999998 # Actual altitude: 84.4662469999998 # Commanded vehicle depth:2047.570831 # Seafloor depth:-2126.657590 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.89; MB_Bottom_Detect_Filter_Max_Range = 337.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2127.255992 meters looking forward 200.000000 meters along route # Maximum depth: 2147.412138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.255992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982199; longitude = -129.103803; captureRadius = 10; duration = 101; initialDepth = 2062.539690; finalDepth = 2052.255992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9000550000001 # Actual altitude: 83.9000550000001 # Commanded vehicle depth:2052.255992 # Seafloor depth:-2136.156047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 335.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2137.539690 meters looking forward 200.000000 meters along route # Maximum depth: 2165.313031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.539690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982595; longitude = -129.105008; captureRadius = 10; duration = 101; initialDepth = 2075.580259; finalDepth = 2062.539690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5062440000002 # Actual altitude: 86.5062440000002 # Commanded vehicle depth:2062.53969 # Seafloor depth:-2149.045934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.015125 meters # Minimum depth: 2150.580259 meters looking forward 200.000000 meters along route # Maximum depth: 2188.729424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.580259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982990; longitude = -129.106212; captureRadius = 10; duration = 101; initialDepth = 2094.684141; finalDepth = 2075.580259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.881621 # Actual altitude: 91.881621 # Commanded vehicle depth:2075.580259 # Seafloor depth:-2167.461880 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.38; 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 26 # Segment length 101.015125 meters # Minimum depth: 2169.684141 meters looking forward 200.000000 meters along route # Maximum depth: 2215.482948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.684141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983385; longitude = -129.107417; captureRadius = 10; duration = 101; initialDepth = 2116.470307; finalDepth = 2094.684141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.7861659999999 # Actual altitude: 96.7861659999999 # Commanded vehicle depth:2094.684141 # Seafloor depth:-2191.470307 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.36; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 101.015125 meters # Minimum depth: 2191.470307 meters looking forward 200.000000 meters along route # Maximum depth: 2216.654358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.470307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983795; longitude = -129.108666; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2132.238907; finalDepth = 2116.470307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.184051 # Actual altitude: 100 # Commanded vehicle depth:2116.470307 # Seafloor depth:-2216.654358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 25 # Segment length 101.015125 meters # Minimum depth: 2207.238907 meters looking forward 200.000000 meters along route # Maximum depth: 2216.011830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.238907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983015; longitude = -129.109120; captureRadius = 10; duration = 101; initialDepth = 2120.275418; finalDepth = 2132.238907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.184051 # Actual altitude: 100 # Commanded vehicle depth:2132.238907 # Seafloor depth:-2210.532572 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 25 # Segment length 101.015125 meters # Minimum depth: 2195.275418 meters looking forward 200.000000 meters along route # Maximum depth: 2210.295847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2120.275418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982116; longitude = -129.109643; captureRadius = 10; duration = 101; initialDepth = 2109.428311; finalDepth = 2120.275418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8002939999997 # Actual altitude: 85.8002939999997 # Commanded vehicle depth:2120.275418 # Seafloor depth:-2206.075712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 343.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2184.428311 meters looking forward 200.000000 meters along route # Maximum depth: 2203.713030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.428311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981216; longitude = -129.110166; captureRadius = 10; duration = 101; initialDepth = 2103.005507; finalDepth = 2109.428311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8002939999997 # Actual altitude: 85.8002939999997 # Commanded vehicle depth:2109.428311 # Seafloor depth:-2194.305940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 343.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2178.005507 meters looking forward 200.000000 meters along route # Maximum depth: 2192.197255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.005507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980317; longitude = -129.110690; captureRadius = 10; duration = 101; initialDepth = 2101.231323; finalDepth = 2103.005507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8776290000001 # Actual altitude: 84.8776290000001 # Commanded vehicle depth:2103.005507 # Seafloor depth:-2183.620705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 339.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2176.231323 meters looking forward 200.000000 meters along route # Maximum depth: 2182.606523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.231323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979418; longitude = -129.111213; captureRadius = 10; duration = 101; initialDepth = 2101.231323; finalDepth = 2101.231323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.615198 # Actual altitude: 80.615198 # Commanded vehicle depth:2101.231323 # Seafloor depth:-2177.506103 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.12; MB_Bottom_Detect_Filter_Max_Range = 322.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2176.231323 meters looking forward 200.000000 meters along route # Maximum depth: 2179.921403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.231323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978518; longitude = -129.111736; captureRadius = 10; duration = 101; initialDepth = 2103.002703; finalDepth = 2101.231323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3502159999998 # Actual altitude: 76.3502159999998 # Commanded vehicle depth:2101.231323 # Seafloor depth:-2177.581539 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2178.002703 meters looking forward 200.000000 meters along route # Maximum depth: 2185.217062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.002703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977661; longitude = -129.112235; captureRadius = 10; duration = 101; initialDepth = 2105.440037; finalDepth = 2103.002703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0583029999998 # Actual altitude: 77.0583029999998 # Commanded vehicle depth:2103.002703 # Seafloor depth:-2180.061006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2180.440037 meters looking forward 200.000000 meters along route # Maximum depth: 2185.826459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.440037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976809; longitude = -129.112730; captureRadius = 10; duration = 101; initialDepth = 2100.746519; finalDepth = 2105.440037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.1308790000003 # Actual altitude: 80.1308790000003 # Commanded vehicle depth:2105.440037 # Seafloor depth:-2185.570916 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 320.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2175.746519 meters looking forward 200.000000 meters along route # Maximum depth: 2185.721850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.746519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975910; longitude = -129.113254; captureRadius = 10; duration = 101; initialDepth = 2100.746519; finalDepth = 2100.746519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2572050000003 # Actual altitude: 80.2572050000003 # Commanded vehicle depth:2100.746519 # Seafloor depth:-2181.003724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 321.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2175.746519 meters looking forward 200.000000 meters along route # Maximum depth: 2188.480416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.746519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975011; longitude = -129.113777; captureRadius = 10; duration = 101; initialDepth = 2104.029138; finalDepth = 2100.746519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2572050000003 # Actual altitude: 80.2572050000003 # Commanded vehicle depth:2100.746519 # Seafloor depth:-2176.975393 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 321.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2179.029138 meters looking forward 200.000000 meters along route # Maximum depth: 2203.333814 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.029138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974111; longitude = -129.114300; captureRadius = 10; duration = 101; initialDepth = 2117.078776; finalDepth = 2104.029138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.9090000000001 # Actual altitude: 85.9090000000001 # Commanded vehicle depth:2104.029138 # Seafloor depth:-2189.938138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.18; MB_Bottom_Detect_Filter_Max_Range = 343.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2192.078776 meters looking forward 200.000000 meters along route # Maximum depth: 2212.983234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.078776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973212; longitude = -129.114824; captureRadius = 10; duration = 101; initialDepth = 2130.821539; finalDepth = 2117.078776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4498360000002 # Actual altitude: 87.4498360000002 # Commanded vehicle depth:2117.078776 # Seafloor depth:-2204.528612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 349.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2205.821539 meters looking forward 200.000000 meters along route # Maximum depth: 2215.299412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.821539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972312; longitude = -129.115347; captureRadius = 10; duration = 101; initialDepth = 2134.709814; finalDepth = 2130.821539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4498360000002 # Actual altitude: 87.4498360000002 # Commanded vehicle depth:2130.821539 # Seafloor depth:-2213.357942 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 349.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2209.709814 meters looking forward 200.000000 meters along route # Maximum depth: 2215.299412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.709814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971450; longitude = -129.115848; captureRadius = 10; duration = 101; initialDepth = 2134.325414; finalDepth = 2134.709814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5364030000001 # Actual altitude: 82.5364030000001 # Commanded vehicle depth:2134.709814 # Seafloor depth:-2213.664990 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 330.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2209.325414 meters looking forward 200.000000 meters along route # Maximum depth: 2215.426478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.325414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970603; longitude = -129.116341; captureRadius = 10; duration = 101; initialDepth = 2134.325414; finalDepth = 2134.325414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9551760000004 # Actual altitude: 78.9551760000004 # Commanded vehicle depth:2134.325414 # Seafloor depth:-2209.537728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2209.325414 meters looking forward 200.000000 meters along route # Maximum depth: 2243.533331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.325414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969704; longitude = -129.116864; captureRadius = 10; duration = 101; initialDepth = 2148.088804; finalDepth = 2134.325414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4319519999999 # Actual altitude: 83.4319519999999 # Commanded vehicle depth:2134.325414 # Seafloor depth:-2217.757366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2223.088804 meters looking forward 200.000000 meters along route # Maximum depth: 2250.232785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.088804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968805; longitude = -129.117388; captureRadius = 10; duration = 101; initialDepth = 2173.052572; finalDepth = 2148.088804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.4243369999999 # Actual altitude: 97.4243369999999 # Commanded vehicle depth:2148.088804 # Seafloor depth:-2245.513141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; 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 25 # Segment length 101.015125 meters # Minimum depth: 2248.052572 meters looking forward 200.000000 meters along route # Maximum depth: 2252.530975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2173.052572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967905; longitude = -129.117911; captureRadius = 10; duration = 101; initialDepth = 2175.091157; finalDepth = 2173.052572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.4243369999999 # Actual altitude: 97.4243369999999 # Commanded vehicle depth:2173.052572 # Seafloor depth:-2250.323468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.48; 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 25 # Segment length 101.015125 meters # Minimum depth: 2250.091157 meters looking forward 200.000000 meters along route # Maximum depth: 2264.010651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2175.091157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967006; longitude = -129.118434; captureRadius = 10; duration = 101; initialDepth = 2178.976743; finalDepth = 2175.091157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8813660000001 # Actual altitude: 77.8813660000001 # Commanded vehicle depth:2175.091157 # Seafloor depth:-2252.972523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2253.976743 meters looking forward 200.000000 meters along route # Maximum depth: 2278.348117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2178.976743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966106; longitude = -129.118958; captureRadius = 10; duration = 101; initialDepth = 2190.364030; finalDepth = 2178.976743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7021019999997 # Actual altitude: 85.7021019999997 # Commanded vehicle depth:2178.976743 # Seafloor depth:-2264.678845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 342.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2265.364030 meters looking forward 200.000000 meters along route # Maximum depth: 2293.282412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2190.364030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965239; longitude = -129.119462; captureRadius = 10; duration = 101; initialDepth = 2206.093040; finalDepth = 2190.364030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8838249999999 # Actual altitude: 88.8838249999999 # Commanded vehicle depth:2190.36403 # Seafloor depth:-2279.247855 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.78; 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 25 # Segment length 101.015125 meters # Minimum depth: 2281.093040 meters looking forward 200.000000 meters along route # Maximum depth: 2309.005224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2206.093040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964398; longitude = -129.119952; captureRadius = 10; duration = 101; initialDepth = 2223.480168; finalDepth = 2206.093040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.069974 # Actual altitude: 89.069974 # Commanded vehicle depth:2206.09304 # Seafloor depth:-2295.163014 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.81; 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 25 # Segment length 101.015125 meters # Minimum depth: 2298.480168 meters looking forward 200.000000 meters along route # Maximum depth: 2315.022960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2223.480168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963498; longitude = -129.120475; captureRadius = 10; duration = 101; initialDepth = 2236.958609; finalDepth = 2223.480168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.069974 # Actual altitude: 89.069974 # Commanded vehicle depth:2223.480168 # Seafloor depth:-2309.993799 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.81; 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 25 # Segment length 101.015125 meters # Minimum depth: 2311.958609 meters looking forward 200.000000 meters along route # Maximum depth: 2327.554886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2236.958609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962599; longitude = -129.120998; captureRadius = 10; duration = 101; initialDepth = 2242.132259; finalDepth = 2236.958609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5136309999998 # Actual altitude: 86.5136309999998 # Commanded vehicle depth:2236.958609 # Seafloor depth:-2315.438554 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2317.132259 meters looking forward 200.000000 meters along route # Maximum depth: 2332.239889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2242.132259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961699; longitude = -129.121522; captureRadius = 10; duration = 101; initialDepth = 2252.992227; finalDepth = 2242.132259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.0458440000002 # Actual altitude: 87.0458440000002 # Commanded vehicle depth:2242.132259 # Seafloor depth:-2329.178103 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 348.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2327.992227 meters looking forward 200.000000 meters along route # Maximum depth: 2339.484897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2252.992227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960800; longitude = -129.122045; captureRadius = 10; duration = 101; initialDepth = 2253.507580; finalDepth = 2252.992227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.0458440000002 # Actual altitude: 87.0458440000002 # Commanded vehicle depth:2252.992227 # Seafloor depth:-2327.992227 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 348.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2328.507580 meters looking forward 200.000000 meters along route # Maximum depth: 2343.568313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2253.507580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959949; longitude = -129.122540; captureRadius = 10; duration = 101; initialDepth = 2248.777609; finalDepth = 2253.507580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5767489999998 # Actual altitude: 86.5767489999998 # Commanded vehicle depth:2253.50758 # Seafloor depth:-2340.084329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.32; MB_Bottom_Detect_Filter_Max_Range = 346.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2323.777609 meters looking forward 200.000000 meters along route # Maximum depth: 2343.568313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2248.777609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.123039; captureRadius = 10; duration = 101; initialDepth = 2245.278241; finalDepth = 2248.777609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.2965709999999 # Actual altitude: 92.2965709999999 # Commanded vehicle depth:2248.777609 # Seafloor depth:-2341.074180 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.46; 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 25 # Segment length 101.015125 meters # Minimum depth: 2320.278241 meters looking forward 200.000000 meters along route # Maximum depth: 2338.793843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2245.278241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.123563; captureRadius = 10; duration = 101; initialDepth = 2245.278241; finalDepth = 2245.278241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.2965709999999 # Actual altitude: 92.2965709999999 # Commanded vehicle depth:2245.278241 # Seafloor depth:-2321.914811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.46; 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 25 # Segment length 101.015125 meters # Minimum depth: 2320.278241 meters looking forward 200.000000 meters along route # Maximum depth: 2327.621959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2245.278241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957292; longitude = -129.124086; captureRadius = 10; duration = 101; initialDepth = 2234.598435; finalDepth = 2245.278241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0110500000001 # Actual altitude: 82.0110500000001 # Commanded vehicle depth:2245.278241 # Seafloor depth:-2327.289291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.40; MB_Bottom_Detect_Filter_Max_Range = 328.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2309.598435 meters looking forward 200.000000 meters along route # Maximum depth: 2326.687956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2234.598435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956393; longitude = -129.124609; captureRadius = 10; duration = 101; initialDepth = 2215.334763; finalDepth = 2234.598435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7482540000001 # Actual altitude: 86.7482540000001 # Commanded vehicle depth:2234.598435 # Seafloor depth:-2321.346689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 346.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2290.334763 meters looking forward 200.000000 meters along route # Maximum depth: 2319.689186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2215.334763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955494; longitude = -129.125132; captureRadius = 10; duration = 101; initialDepth = 2185.385892; finalDepth = 2215.334763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.6849700000002 # Actual altitude: 92.6849700000002 # Commanded vehicle depth:2215.334763 # Seafloor depth:-2308.019733 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.54; 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 25 # Segment length 101.015125 meters # Minimum depth: 2260.385892 meters looking forward 200.000000 meters along route # Maximum depth: 2306.235468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2185.385892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954594; longitude = -129.125656; captureRadius = 10; duration = 101; initialDepth = 2169.961297; finalDepth = 2185.385892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.624713 # Actual altitude: 100 # Commanded vehicle depth:2185.385892 # Seafloor depth:-2289.010605 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 25 # Segment length 101.015125 meters # Minimum depth: 2244.961297 meters looking forward 200.000000 meters along route # Maximum depth: 2287.368661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2169.961297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953738; longitude = -129.126154; captureRadius = 10; duration = 101; initialDepth = 2158.876865; finalDepth = 2169.961297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.624713 # Actual altitude: 100 # Commanded vehicle depth:2169.961297 # Seafloor depth:-2259.268851 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 25 # Segment length 101.015125 meters # Minimum depth: 2233.876865 meters looking forward 200.000000 meters along route # Maximum depth: 2256.657962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2158.876865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952885; longitude = -129.126650; captureRadius = 10; duration = 101; initialDepth = 2158.876865; finalDepth = 2158.876865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.307554 # Actual altitude: 89.307554 # Commanded vehicle depth:2158.876865 # Seafloor depth:-2242.334416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.86; 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 25 # Segment length 101.015125 meters # Minimum depth: 2233.876865 meters looking forward 200.000000 meters along route # Maximum depth: 2245.802852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2158.876865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951986; longitude = -129.127173; captureRadius = 10; duration = 101; initialDepth = 2160.873108; finalDepth = 2158.876865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.457551 # Actual altitude: 83.457551 # Commanded vehicle depth:2158.876865 # Seafloor depth:-2239.468182 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2235.873108 meters looking forward 200.000000 meters along route # Maximum depth: 2245.802852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2160.873108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951086; longitude = -129.127697; captureRadius = 10; duration = 101; initialDepth = 2159.554577; finalDepth = 2160.873108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3180810000003 # Actual altitude: 83.3180810000003 # Commanded vehicle depth:2160.873108 # Seafloor depth:-2244.191189 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.66; MB_Bottom_Detect_Filter_Max_Range = 333.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2234.554577 meters looking forward 200.000000 meters along route # Maximum depth: 2242.169049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.554577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950187; longitude = -129.128220; captureRadius = 10; duration = 101; initialDepth = 2159.554577; finalDepth = 2159.554577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3180810000003 # Actual altitude: 83.3180810000003 # Commanded vehicle depth:2159.554577 # Seafloor depth:-2235.342343 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.66; MB_Bottom_Detect_Filter_Max_Range = 333.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2234.554577 meters looking forward 200.000000 meters along route # Maximum depth: 2236.270068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.554577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949288; longitude = -129.128743; captureRadius = 10; duration = 101; initialDepth = 2160.699904; finalDepth = 2159.554577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5349420000002 # Actual altitude: 76.5349420000002 # Commanded vehicle depth:2159.554577 # Seafloor depth:-2236.089519 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 306.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2235.699904 meters looking forward 200.000000 meters along route # Maximum depth: 2236.971629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2160.699904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948388; longitude = -129.129266; captureRadius = 10; duration = 101; initialDepth = 2160.918885; finalDepth = 2160.699904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5349420000002 # Actual altitude: 76.5349420000002 # Commanded vehicle depth:2160.699904 # Seafloor depth:-2235.816391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 306.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2235.918885 meters looking forward 200.000000 meters along route # Maximum depth: 2241.700090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2160.918885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947527; longitude = -129.129767; captureRadius = 10; duration = 101; initialDepth = 2161.237047; finalDepth = 2160.918885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.525506 # Actual altitude: 75.525506 # Commanded vehicle depth:2160.918885 # Seafloor depth:-2236.444391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.015125 meters # Minimum depth: 2236.237047 meters looking forward 200.000000 meters along route # Maximum depth: 2257.737501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2161.237047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946679; longitude = -129.130261; captureRadius = 10; duration = 101; initialDepth = 2148.784733; finalDepth = 2161.237047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3350620000001 # Actual altitude: 82.3350620000001 # Commanded vehicle depth:2161.237047 # Seafloor depth:-2243.572109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 329.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 101.015125 meters # Minimum depth: 2223.784733 meters looking forward 200.000000 meters along route # Maximum depth: 2258.913574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.784733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945840; longitude = -129.130749; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2112.435150; finalDepth = 2148.784733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.128841 # Actual altitude: 100 # Commanded vehicle depth:2148.784733 # Seafloor depth:-2258.913574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 24 # Segment length 101.015125 meters # Minimum depth: 2187.435150 meters looking forward 200.000000 meters along route # Maximum depth: 2258.913574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2112.435150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945600; longitude = -129.129810; captureRadius = 10; duration = 101; initialDepth = 2108.446399; finalDepth = 2112.435150; 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: 110.128841 # Actual altitude: 100 # Commanded vehicle depth:2112.43515 # Seafloor depth:-2220.435926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 23 # Segment length 101.015125 meters # Minimum depth: 2183.446399 meters looking forward 200.000000 meters along route # Maximum depth: 2223.784733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.446399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945270; longitude = -129.128518; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2105.925923; finalDepth = 2108.446399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.000776 # Actual altitude: 100 # Commanded vehicle depth:2108.446399 # Seafloor depth:-2186.321472 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 23 # Segment length 101.015125 meters # Minimum depth: 2180.925923 meters looking forward 200.000000 meters along route # Maximum depth: 2187.435150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.925923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945960; longitude = -129.128118; captureRadius = 10; duration = 101; initialDepth = 2105.925923; finalDepth = 2105.925923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8750730000002 # Actual altitude: 77.8750730000002 # Commanded vehicle depth:2105.925923 # Seafloor depth:-2183.282353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2180.925923 meters looking forward 200.000000 meters along route # Maximum depth: 2185.375327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.925923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.127596; captureRadius = 10; duration = 101; initialDepth = 2106.905838; finalDepth = 2105.925923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3564300000003 # Actual altitude: 77.3564300000003 # Commanded vehicle depth:2105.925923 # Seafloor depth:-2181.557173 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2181.905838 meters looking forward 200.000000 meters along route # Maximum depth: 2191.310919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.905838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947729; longitude = -129.127091; captureRadius = 10; duration = 101; initialDepth = 2112.181231; finalDepth = 2106.905838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0783219999998 # Actual altitude: 79.0783219999998 # Commanded vehicle depth:2106.905838 # Seafloor depth:-2185.984160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2187.181231 meters looking forward 200.000000 meters along route # Maximum depth: 2195.530657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2112.181231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.126604; captureRadius = 10; duration = 101; initialDepth = 2118.280712; finalDepth = 2112.181231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.680194 # Actual altitude: 79.680194 # Commanded vehicle depth:2112.181231 # Seafloor depth:-2191.861425 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 318.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2193.280712 meters looking forward 200.000000 meters along route # Maximum depth: 2198.360718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2118.280712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949467; longitude = -129.126082; captureRadius = 10; duration = 101; initialDepth = 2121.698135; finalDepth = 2118.280712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.680194 # Actual altitude: 79.680194 # Commanded vehicle depth:2118.280712 # Seafloor depth:-2195.901653 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 318.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2196.698135 meters looking forward 200.000000 meters along route # Maximum depth: 2198.360718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2121.698135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950367; longitude = -129.125560; captureRadius = 10; duration = 101; initialDepth = 2122.176022; finalDepth = 2121.698135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6209409999997 # Actual altitude: 77.6209409999997 # Commanded vehicle depth:2121.698135 # Seafloor depth:-2197.626625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 310.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2197.176022 meters looking forward 200.000000 meters along route # Maximum depth: 2199.755195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.176022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951266; longitude = -129.125038; captureRadius = 10; duration = 101; initialDepth = 2122.364055; finalDepth = 2122.176022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9898079999998 # Actual altitude: 75.9898079999998 # Commanded vehicle depth:2122.176022 # Seafloor depth:-2198.165830 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 303.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2197.364055 meters looking forward 200.000000 meters along route # Maximum depth: 2199.755195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.364055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952166; longitude = -129.124516; captureRadius = 10; duration = 101; initialDepth = 2122.364055; finalDepth = 2122.364055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.188881 # Actual altitude: 77.188881 # Commanded vehicle depth:2122.364055 # Seafloor depth:-2199.552936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2197.364055 meters looking forward 200.000000 meters along route # Maximum depth: 2204.574990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.364055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953033; longitude = -129.124012; captureRadius = 10; duration = 101; initialDepth = 2123.475265; finalDepth = 2122.364055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.188881 # Actual altitude: 77.188881 # Commanded vehicle depth:2122.364055 # Seafloor depth:-2197.776243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2198.475265 meters looking forward 200.000000 meters along route # Maximum depth: 2219.693371 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.475265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953875; longitude = -129.123524; captureRadius = 10; duration = 101; initialDepth = 2133.495976; finalDepth = 2123.475265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2917109999999 # Actual altitude: 82.2917109999999 # Commanded vehicle depth:2123.475265 # Seafloor depth:-2205.766976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2208.495976 meters looking forward 200.000000 meters along route # Maximum depth: 2232.608011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.495976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.123002; captureRadius = 10; duration = 101; initialDepth = 2149.280632; finalDepth = 2133.495976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7293689999997 # Actual altitude: 87.7293689999997 # Commanded vehicle depth:2133.495976 # Seafloor depth:-2221.225345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.55; 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 23 # Segment length 101.015125 meters # Minimum depth: 2224.280632 meters looking forward 200.000000 meters along route # Maximum depth: 2237.600919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.280632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.122480; captureRadius = 10; duration = 101; initialDepth = 2159.680628; finalDepth = 2149.280632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7293689999997 # Actual altitude: 87.7293689999997 # Commanded vehicle depth:2149.280632 # Seafloor depth:-2233.528736 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.55; 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 23 # Segment length 101.015125 meters # Minimum depth: 2234.680628 meters looking forward 200.000000 meters along route # Maximum depth: 2253.784875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.680628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.121958; captureRadius = 10; duration = 101; initialDepth = 2164.124416; finalDepth = 2159.680628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2481040000002 # Actual altitude: 84.2481040000002 # Commanded vehicle depth:2159.680628 # Seafloor depth:-2238.305723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.85; MB_Bottom_Detect_Filter_Max_Range = 336.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2239.124416 meters looking forward 200.000000 meters along route # Maximum depth: 2268.967743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.124416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.121436; captureRadius = 10; duration = 101; initialDepth = 2181.330520; finalDepth = 2164.124416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.722878 # Actual altitude: 90.722878 # Commanded vehicle depth:2164.124416 # Seafloor depth:-2254.847294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.14; 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 23 # Segment length 101.015125 meters # Minimum depth: 2256.330520 meters looking forward 200.000000 meters along route # Maximum depth: 2270.345114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2181.330520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958337; longitude = -129.120934; captureRadius = 10; duration = 101; initialDepth = 2178.557773; finalDepth = 2181.330520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.722878 # Actual altitude: 90.722878 # Commanded vehicle depth:2181.33052 # Seafloor depth:-2269.432106 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.14; 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 23 # Segment length 101.015125 meters # Minimum depth: 2253.557773 meters looking forward 200.000000 meters along route # Maximum depth: 2270.345114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2178.557773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959181; longitude = -129.120444; captureRadius = 10; duration = 101; initialDepth = 2163.206156; finalDepth = 2178.557773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.1015860000002 # Actual altitude: 88.1015860000002 # Commanded vehicle depth:2178.557773 # Seafloor depth:-2265.472181 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.62; 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 23 # Segment length 101.015125 meters # Minimum depth: 2238.206156 meters looking forward 200.000000 meters along route # Maximum depth: 2264.207716 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.206156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960080; longitude = -129.119922; captureRadius = 10; duration = 101; initialDepth = 2157.010946; finalDepth = 2163.206156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.0092209999998 # Actual altitude: 89.0092209999998 # Commanded vehicle depth:2163.206156 # Seafloor depth:-2252.215377 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.80; 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 23 # Segment length 101.015125 meters # Minimum depth: 2232.010946 meters looking forward 200.000000 meters along route # Maximum depth: 2249.257654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.010946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960980; longitude = -129.119401; captureRadius = 10; duration = 101; initialDepth = 2154.866960; finalDepth = 2157.010946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.0092209999998 # Actual altitude: 89.0092209999998 # Commanded vehicle depth:2157.010946 # Seafloor depth:-2237.340697 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.80; 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 23 # Segment length 101.015125 meters # Minimum depth: 2229.866960 meters looking forward 200.000000 meters along route # Maximum depth: 2236.480726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2154.866960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.118879; captureRadius = 10; duration = 101; initialDepth = 2146.603371; finalDepth = 2154.866960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3297510000002 # Actual altitude: 80.3297510000002 # Commanded vehicle depth:2154.86696 # Seafloor depth:-2232.070103 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 321.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2221.603371 meters looking forward 200.000000 meters along route # Maximum depth: 2232.250193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.603371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.118357; captureRadius = 10; duration = 101; initialDepth = 2127.474451; finalDepth = 2146.603371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6085679999997 # Actual altitude: 82.6085679999997 # Commanded vehicle depth:2146.603371 # Seafloor depth:-2229.211939 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.52; MB_Bottom_Detect_Filter_Max_Range = 330.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2202.474451 meters looking forward 200.000000 meters along route # Maximum depth: 2228.430738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2127.474451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963641; longitude = -129.117856; captureRadius = 10; duration = 101; initialDepth = 2106.876288; finalDepth = 2127.474451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.0235299999999 # Actual altitude: 93.0235299999999 # Commanded vehicle depth:2127.474451 # Seafloor depth:-2220.497981 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.60; 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 23 # Segment length 101.015125 meters # Minimum depth: 2181.876288 meters looking forward 200.000000 meters along route # Maximum depth: 2217.984546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.876288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.117365; captureRadius = 10; duration = 101; initialDepth = 2103.787773; finalDepth = 2106.876288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.0098830000002 # Actual altitude: 94.0098830000002 # Commanded vehicle depth:2106.876288 # Seafloor depth:-2200.886171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.80; 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 23 # Segment length 101.015125 meters # Minimum depth: 2178.787773 meters looking forward 200.000000 meters along route # Maximum depth: 2197.934196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.787773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.116843; captureRadius = 10; duration = 101; initialDepth = 2103.593341; finalDepth = 2103.787773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.0098830000002 # Actual altitude: 94.0098830000002 # Commanded vehicle depth:2103.787773 # Seafloor depth:-2180.947697 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.80; 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 23 # Segment length 101.015125 meters # Minimum depth: 2178.593341 meters looking forward 200.000000 meters along route # Maximum depth: 2179.681196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.593341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.116321; captureRadius = 10; duration = 101; initialDepth = 2103.593341; finalDepth = 2103.593341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.159924 # Actual altitude: 77.159924 # Commanded vehicle depth:2103.593341 # Seafloor depth:-2178.850980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2178.593341 meters looking forward 200.000000 meters along route # Maximum depth: 2179.476767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.593341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.115799; captureRadius = 10; duration = 101; initialDepth = 2103.982804; finalDepth = 2103.593341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4786290000002 # Actual altitude: 75.4786290000002 # Commanded vehicle depth:2103.593341 # Seafloor depth:-2179.071970 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 301.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2178.982804 meters looking forward 200.000000 meters along route # Maximum depth: 2180.594203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.982804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968085; longitude = -129.115277; captureRadius = 10; duration = 101; initialDepth = 2104.771073; finalDepth = 2103.982804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6670959999997 # Actual altitude: 75.6670959999997 # Commanded vehicle depth:2103.982804 # Seafloor depth:-2179.649900 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 302.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2179.771073 meters looking forward 200.000000 meters along route # Maximum depth: 2181.017122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.771073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968945; longitude = -129.114778; captureRadius = 10; duration = 101; initialDepth = 2104.771073; finalDepth = 2104.771073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6670959999997 # Actual altitude: 75.6670959999997 # Commanded vehicle depth:2104.771073 # Seafloor depth:-2180.169501 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 302.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2179.771073 meters looking forward 200.000000 meters along route # Maximum depth: 2184.181713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.771073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969794; longitude = -129.114285; captureRadius = 10; duration = 101; initialDepth = 2107.089098; finalDepth = 2104.771073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5439930000002 # Actual altitude: 76.5439930000002 # Commanded vehicle depth:2104.771073 # Seafloor depth:-2181.315066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 306.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2182.089098 meters looking forward 200.000000 meters along route # Maximum depth: 2185.339692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2107.089098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970693; longitude = -129.113763; captureRadius = 10; duration = 101; initialDepth = 2103.800627; finalDepth = 2107.089098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3151950000001 # Actual altitude: 77.3151950000001 # Commanded vehicle depth:2107.089098 # Seafloor depth:-2184.404293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2178.800627 meters looking forward 200.000000 meters along route # Maximum depth: 2185.339692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.800627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971593; longitude = -129.113241; captureRadius = 10; duration = 101; initialDepth = 2099.169618; finalDepth = 2103.800627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8133509999998 # Actual altitude: 80.8133509999998 # Commanded vehicle depth:2103.800627 # Seafloor depth:-2184.613978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2174.169618 meters looking forward 200.000000 meters along route # Maximum depth: 2183.673671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.169618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972492; longitude = -129.112719; captureRadius = 10; duration = 101; initialDepth = 2089.811460; finalDepth = 2099.169618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8133509999998 # Actual altitude: 80.8133509999998 # Commanded vehicle depth:2099.169618 # Seafloor depth:-2178.083644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2164.811460 meters looking forward 200.000000 meters along route # Maximum depth: 2177.359903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.811460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973392; longitude = -129.112197; captureRadius = 10; duration = 101; initialDepth = 2087.989979; finalDepth = 2089.811460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.072858 # Actual altitude: 84.072858 # Commanded vehicle depth:2089.81146 # Seafloor depth:-2173.884318 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 336.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2162.989979 meters looking forward 200.000000 meters along route # Maximum depth: 2173.314155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.989979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974249; longitude = -129.111700; captureRadius = 10; duration = 101; initialDepth = 2085.294194; finalDepth = 2087.989979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.072858 # Actual altitude: 84.072858 # Commanded vehicle depth:2087.989979 # Seafloor depth:-2164.428885 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 336.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2160.294194 meters looking forward 200.000000 meters along route # Maximum depth: 2163.622295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.294194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975101; longitude = -129.111205; captureRadius = 10; duration = 101; initialDepth = 2081.927453; finalDepth = 2085.294194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5364599999998 # Actual altitude: 77.5364599999998 # Commanded vehicle depth:2085.294194 # Seafloor depth:-2162.830654 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.51; MB_Bottom_Detect_Filter_Max_Range = 310.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2156.927453 meters looking forward 200.000000 meters along route # Maximum depth: 2162.433155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.927453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976000; longitude = -129.110683; captureRadius = 10; duration = 101; initialDepth = 2079.559304; finalDepth = 2081.927453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9173040000001 # Actual altitude: 77.9173040000001 # Commanded vehicle depth:2081.927453 # Seafloor depth:-2159.844757 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2154.559304 meters looking forward 200.000000 meters along route # Maximum depth: 2159.341867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.559304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976899; longitude = -129.110161; captureRadius = 10; duration = 101; initialDepth = 2073.134211; finalDepth = 2079.559304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9173040000001 # Actual altitude: 77.9173040000001 # Commanded vehicle depth:2079.559304 # Seafloor depth:-2156.803909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2148.134211 meters looking forward 200.000000 meters along route # Maximum depth: 2156.778639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.134211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977799; longitude = -129.109639; captureRadius = 10; duration = 101; initialDepth = 2072.101286; finalDepth = 2073.134211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8800379999998 # Actual altitude: 80.8800379999998 # Commanded vehicle depth:2073.134211 # Seafloor depth:-2154.014249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 323.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2147.101286 meters looking forward 200.000000 meters along route # Maximum depth: 2153.123396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.101286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978698; longitude = -129.109117; captureRadius = 10; duration = 101; initialDepth = 2072.101286; finalDepth = 2072.101286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8800379999998 # Actual altitude: 80.8800379999998 # Commanded vehicle depth:2072.101286 # Seafloor depth:-2147.710947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 323.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2147.101286 meters looking forward 200.000000 meters along route # Maximum depth: 2153.613449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.101286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979598; longitude = -129.108595; captureRadius = 10; duration = 101; initialDepth = 2077.004341; finalDepth = 2072.101286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1325539999998 # Actual altitude: 79.1325539999998 # Commanded vehicle depth:2072.101286 # Seafloor depth:-2151.233840 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2152.004341 meters looking forward 200.000000 meters along route # Maximum depth: 2160.402800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.004341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980497; longitude = -129.108073; captureRadius = 10; duration = 101; initialDepth = 2080.178825; finalDepth = 2077.004341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1325539999998 # Actual altitude: 79.1325539999998 # Commanded vehicle depth:2077.004341 # Seafloor depth:-2153.700954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2155.178825 meters looking forward 200.000000 meters along route # Maximum depth: 2164.922623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.178825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981398; longitude = -129.107551; captureRadius = 10; duration = 101; initialDepth = 2086.181527; finalDepth = 2080.178825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2305860000001 # Actual altitude: 80.2305860000001 # Commanded vehicle depth:2080.178825 # Seafloor depth:-2160.409411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 320.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.015125 meters # Minimum depth: 2161.181527 meters looking forward 200.000000 meters along route # Maximum depth: 2173.644239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.181527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982320; longitude = -129.107015; captureRadius = 10; duration = 101; initialDepth = 2087.784124; finalDepth = 2086.181527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2305860000001 # Actual altitude: 80.2305860000001 # Commanded vehicle depth:2086.181527 # Seafloor depth:-2165.155246 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 320.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.92; 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 22 # Segment length 101.015125 meters # Minimum depth: 2162.784124 meters looking forward 200.000000 meters along route # Maximum depth: 2174.334045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.784124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983165; longitude = -129.106525; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2070.144864; finalDepth = 2087.784124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5499210000003 # Actual altitude: 86.5499210000003 # Commanded vehicle depth:2087.784124 # Seafloor depth:-2174.334045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 346.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.015125 meters # Minimum depth: 2145.144864 meters looking forward 200.000000 meters along route # Maximum depth: 2174.334045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.144864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982949; longitude = -129.105677; captureRadius = 10; duration = 101; initialDepth = 2063.172576; finalDepth = 2070.144864; 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: 90.5535669999999 # Actual altitude: 90.5535669999999 # Commanded vehicle depth:2070.144864 # Seafloor depth:-2160.698431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.11; 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 21 # Segment length 101.015125 meters # Minimum depth: 2138.172576 meters looking forward 200.000000 meters along route # Maximum depth: 2158.640332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.172576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982596; longitude = -129.104294; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2062.745668; finalDepth = 2063.172576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.5535669999999 # Actual altitude: 90.5535669999999 # Commanded vehicle depth:2063.172576 # Seafloor depth:-2144.697815 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.11; 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 21 # Segment length 101.015125 meters # Minimum depth: 2137.745668 meters looking forward 200.000000 meters along route # Maximum depth: 2144.394288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.745668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981756; longitude = -129.104782; captureRadius = 10; duration = 101; initialDepth = 2059.912044; finalDepth = 2062.745668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5252390000001 # Actual altitude: 81.5252390000001 # Commanded vehicle depth:2062.745668 # Seafloor depth:-2138.046577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.31; MB_Bottom_Detect_Filter_Max_Range = 326.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2134.912044 meters looking forward 200.000000 meters along route # Maximum depth: 2138.560461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.912044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980907; longitude = -129.105275; captureRadius = 10; duration = 101; initialDepth = 2055.831620; finalDepth = 2059.912044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3405729999999 # Actual altitude: 78.3405729999999 # Commanded vehicle depth:2059.912044 # Seafloor depth:-2138.252617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2130.831620 meters looking forward 200.000000 meters along route # Maximum depth: 2137.538454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.831620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980047; longitude = -129.105775; captureRadius = 10; duration = 101; initialDepth = 2052.838886; finalDepth = 2055.831620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7671620000001 # Actual altitude: 78.7671620000001 # Commanded vehicle depth:2055.83162 # Seafloor depth:-2134.598782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2127.838886 meters looking forward 200.000000 meters along route # Maximum depth: 2133.891840 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.838886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979148; longitude = -129.106298; captureRadius = 10; duration = 101; initialDepth = 2052.838886; finalDepth = 2052.838886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7671620000001 # Actual altitude: 78.7671620000001 # Commanded vehicle depth:2052.838886 # Seafloor depth:-2130.295850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2127.838886 meters looking forward 200.000000 meters along route # Maximum depth: 2131.520627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.838886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978248; longitude = -129.106820; captureRadius = 10; duration = 101; initialDepth = 2054.100782; finalDepth = 2052.838886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.456964 # Actual altitude: 77.456964 # Commanded vehicle depth:2052.838886 # Seafloor depth:-2128.594808 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 309.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2129.100782 meters looking forward 200.000000 meters along route # Maximum depth: 2132.037089 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.100782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977349; longitude = -129.107343; captureRadius = 10; duration = 101; initialDepth = 2056.704570; finalDepth = 2054.100782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.748893 # Actual altitude: 77.748893 # Commanded vehicle depth:2054.100782 # Seafloor depth:-2131.849675 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2131.704570 meters looking forward 200.000000 meters along route # Maximum depth: 2135.342821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.704570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976450; longitude = -129.107866; captureRadius = 10; duration = 101; initialDepth = 2057.235297; finalDepth = 2056.704570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.748893 # Actual altitude: 77.748893 # Commanded vehicle depth:2056.70457 # Seafloor depth:-2132.021224 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2132.235297 meters looking forward 200.000000 meters along route # Maximum depth: 2136.482900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.235297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975550; longitude = -129.108388; captureRadius = 10; duration = 101; initialDepth = 2060.779164; finalDepth = 2057.235297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3506859999998 # Actual altitude: 78.3506859999998 # Commanded vehicle depth:2057.235297 # Seafloor depth:-2135.585983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2135.779164 meters looking forward 200.000000 meters along route # Maximum depth: 2143.217057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.779164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974689; longitude = -129.108889; captureRadius = 10; duration = 101; initialDepth = 2062.994620; finalDepth = 2060.779164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3506859999998 # Actual altitude: 78.3506859999998 # Commanded vehicle depth:2060.779164 # Seafloor depth:-2136.849681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2137.994620 meters looking forward 200.000000 meters along route # Maximum depth: 2146.549230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.994620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973841; longitude = -129.109381; captureRadius = 10; duration = 101; initialDepth = 2069.736501; finalDepth = 2062.994620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.79801 # Actual altitude: 80.79801 # Commanded vehicle depth:2062.99462 # Seafloor depth:-2143.792630 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2144.736501 meters looking forward 200.000000 meters along route # Maximum depth: 2147.494619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.736501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972942; longitude = -129.109904; captureRadius = 10; duration = 101; initialDepth = 2070.495634; finalDepth = 2069.736501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.79801 # Actual altitude: 80.79801 # Commanded vehicle depth:2069.736501 # Seafloor depth:-2146.439405 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2145.495634 meters looking forward 200.000000 meters along route # Maximum depth: 2156.172952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.495634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972043; longitude = -129.110427; captureRadius = 10; duration = 101; initialDepth = 2075.722173; finalDepth = 2070.495634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0331000000001 # Actual altitude: 78.0331000000001 # Commanded vehicle depth:2070.495634 # Seafloor depth:-2148.528734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2150.722173 meters looking forward 200.000000 meters along route # Maximum depth: 2158.583308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.722173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971143; longitude = -129.110949; captureRadius = 10; duration = 101; initialDepth = 2081.933345; finalDepth = 2075.722173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.079866 # Actual altitude: 81.079866 # Commanded vehicle depth:2075.722173 # Seafloor depth:-2156.802039 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 324.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2156.933345 meters looking forward 200.000000 meters along route # Maximum depth: 2158.583308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.933345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970244; longitude = -129.111472; captureRadius = 10; duration = 101; initialDepth = 2080.226533; finalDepth = 2081.933345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.079866 # Actual altitude: 81.079866 # Commanded vehicle depth:2081.933345 # Seafloor depth:-2158.582342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 324.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2155.226533 meters looking forward 200.000000 meters along route # Maximum depth: 2158.542825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.226533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969391; longitude = -129.111967; captureRadius = 10; duration = 101; initialDepth = 2074.523313; finalDepth = 2080.226533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6489970000002 # Actual altitude: 76.6489970000002 # Commanded vehicle depth:2080.226533 # Seafloor depth:-2156.869286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2149.523313 meters looking forward 200.000000 meters along route # Maximum depth: 2156.687107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.523313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968535; longitude = -129.112465; captureRadius = 10; duration = 101; initialDepth = 2073.315539; finalDepth = 2074.523313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4573839999998 # Actual altitude: 80.4573839999998 # Commanded vehicle depth:2074.523313 # Seafloor depth:-2154.980697 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 321.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2148.315539 meters looking forward 200.000000 meters along route # Maximum depth: 2154.040203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.315539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967635; longitude = -129.112987; captureRadius = 10; duration = 101; initialDepth = 2065.708083; finalDepth = 2073.315539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4573839999998 # Actual altitude: 80.4573839999998 # Commanded vehicle depth:2073.315539 # Seafloor depth:-2149.074223 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 321.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2140.708083 meters looking forward 200.000000 meters along route # Maximum depth: 2148.587382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.708083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966736; longitude = -129.113510; captureRadius = 10; duration = 101; initialDepth = 2054.275575; finalDepth = 2065.708083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8436350000002 # Actual altitude: 82.8436350000002 # Commanded vehicle depth:2065.708083 # Seafloor depth:-2148.551718 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.57; MB_Bottom_Detect_Filter_Max_Range = 331.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2129.275575 meters looking forward 200.000000 meters along route # Maximum depth: 2147.974193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.275575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965837; longitude = -129.114033; captureRadius = 10; duration = 101; initialDepth = 2054.165620; finalDepth = 2054.275575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.749667 # Actual altitude: 84.749667 # Commanded vehicle depth:2054.275575 # Seafloor depth:-2139.025242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.95; MB_Bottom_Detect_Filter_Max_Range = 339.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2129.165620 meters looking forward 200.000000 meters along route # Maximum depth: 2145.199328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.165620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964937; longitude = -129.114555; captureRadius = 10; duration = 101; initialDepth = 2054.393806; finalDepth = 2054.165620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.749667 # Actual altitude: 84.749667 # Commanded vehicle depth:2054.16562 # Seafloor depth:-2129.165620 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.95; MB_Bottom_Detect_Filter_Max_Range = 339.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2129.393806 meters looking forward 200.000000 meters along route # Maximum depth: 2161.209073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.393806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964038; longitude = -129.115078; captureRadius = 10; duration = 101; initialDepth = 2074.329523; finalDepth = 2054.393806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.5986269999999 # Actual altitude: 92.5986269999999 # Commanded vehicle depth:2054.393806 # Seafloor depth:-2146.992433 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.52; 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 21 # Segment length 101.015125 meters # Minimum depth: 2149.329523 meters looking forward 200.000000 meters along route # Maximum depth: 2166.104444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.329523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963173; longitude = -129.115581; captureRadius = 10; duration = 101; initialDepth = 2088.101901; finalDepth = 2074.329523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.5986269999999 # Actual altitude: 92.5986269999999 # Commanded vehicle depth:2074.329523 # Seafloor depth:-2162.019145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.52; 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 21 # Segment length 101.015125 meters # Minimum depth: 2163.101901 meters looking forward 200.000000 meters along route # Maximum depth: 2166.882297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.101901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962329; longitude = -129.116071; captureRadius = 10; duration = 101; initialDepth = 2091.456787; finalDepth = 2088.101901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.6896220000003 # Actual altitude: 87.6896220000003 # Commanded vehicle depth:2088.101901 # Seafloor depth:-2166.464088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.54; 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 21 # Segment length 101.015125 meters # Minimum depth: 2166.456787 meters looking forward 200.000000 meters along route # Maximum depth: 2166.882297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.456787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961430; longitude = -129.116594; captureRadius = 10; duration = 101; initialDepth = 2091.603494; finalDepth = 2091.456787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3621870000002 # Actual altitude: 78.3621870000002 # Commanded vehicle depth:2091.456787 # Seafloor depth:-2166.579963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2166.603494 meters looking forward 200.000000 meters along route # Maximum depth: 2174.448341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.603494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.117116; captureRadius = 10; duration = 101; initialDepth = 2093.142081; finalDepth = 2091.603494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.498932 # Actual altitude: 75.498932 # Commanded vehicle depth:2091.603494 # Seafloor depth:-2167.102426 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 302.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2168.142081 meters looking forward 200.000000 meters along route # Maximum depth: 2177.258876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.142081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959631; longitude = -129.117639; captureRadius = 10; duration = 101; initialDepth = 2100.702851; finalDepth = 2093.142081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.933794 # Actual altitude: 81.933794 # Commanded vehicle depth:2093.142081 # Seafloor depth:-2175.075875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2175.702851 meters looking forward 200.000000 meters along route # Maximum depth: 2178.439369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.702851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.118162; captureRadius = 10; duration = 101; initialDepth = 2091.576027; finalDepth = 2100.702851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.933794 # Actual altitude: 81.933794 # Commanded vehicle depth:2100.702851 # Seafloor depth:-2177.472073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2166.576027 meters looking forward 200.000000 meters along route # Maximum depth: 2178.439369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.576027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957875; longitude = -129.118659; captureRadius = 10; duration = 101; initialDepth = 2091.481335; finalDepth = 2091.576027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5920919999999 # Actual altitude: 83.5920919999999 # Commanded vehicle depth:2091.576027 # Seafloor depth:-2175.168119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 334.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2166.481335 meters looking forward 200.000000 meters along route # Maximum depth: 2173.437455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.481335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957022; longitude = -129.119155; captureRadius = 10; duration = 101; initialDepth = 2091.638405; finalDepth = 2091.481335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5920919999999 # Actual altitude: 83.5920919999999 # Commanded vehicle depth:2091.481335 # Seafloor depth:-2166.481335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 334.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2166.638405 meters looking forward 200.000000 meters along route # Maximum depth: 2174.145046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.638405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956123; longitude = -129.119677; captureRadius = 10; duration = 101; initialDepth = 2096.147077; finalDepth = 2091.638405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.756394 # Actual altitude: 77.756394 # Commanded vehicle depth:2091.638405 # Seafloor depth:-2169.394799 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2171.147077 meters looking forward 200.000000 meters along route # Maximum depth: 2175.485069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.147077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955224; longitude = -129.120200; captureRadius = 10; duration = 101; initialDepth = 2097.702313; finalDepth = 2096.147077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5093979999997 # Actual altitude: 78.5093979999997 # Commanded vehicle depth:2096.147077 # Seafloor depth:-2174.656475 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 314.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2172.702313 meters looking forward 200.000000 meters along route # Maximum depth: 2175.485069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.702313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954324; longitude = -129.120723; captureRadius = 10; duration = 101; initialDepth = 2097.702313; finalDepth = 2097.702313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5093979999997 # Actual altitude: 78.5093979999997 # Commanded vehicle depth:2097.702313 # Seafloor depth:-2174.081427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 314.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2172.702313 meters looking forward 200.000000 meters along route # Maximum depth: 2174.268909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.702313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953425; longitude = -129.121245; captureRadius = 10; duration = 101; initialDepth = 2097.720396; finalDepth = 2097.702313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3791140000003 # Actual altitude: 76.3791140000003 # Commanded vehicle depth:2097.702313 # Seafloor depth:-2173.570376 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2172.720396 meters looking forward 200.000000 meters along route # Maximum depth: 2174.268909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.720396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952525; longitude = -129.121768; captureRadius = 10; duration = 101; initialDepth = 2097.488075; finalDepth = 2097.720396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8680630000003 # Actual altitude: 75.8680630000003 # Commanded vehicle depth:2097.720396 # Seafloor depth:-2173.551352 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 303.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2172.488075 meters looking forward 200.000000 meters along route # Maximum depth: 2174.794994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.488075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951657; longitude = -129.122273; captureRadius = 10; duration = 101; initialDepth = 2096.489834; finalDepth = 2097.488075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8309559999998 # Actual altitude: 75.8309559999998 # Commanded vehicle depth:2097.488075 # Seafloor depth:-2172.576201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 303.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2171.489834 meters looking forward 200.000000 meters along route # Maximum depth: 2174.800301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.489834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950817; longitude = -129.122761; captureRadius = 10; duration = 101; initialDepth = 2093.402659; finalDepth = 2096.489834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3104670000002 # Actual altitude: 78.3104670000002 # Commanded vehicle depth:2096.489834 # Seafloor depth:-2174.800301 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 313.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2168.402659 meters looking forward 200.000000 meters along route # Maximum depth: 2174.219810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.402659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949917; longitude = -129.123283; captureRadius = 10; duration = 101; initialDepth = 2090.915139; finalDepth = 2093.402659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3104670000002 # Actual altitude: 78.3104670000002 # Commanded vehicle depth:2093.402659 # Seafloor depth:-2171.113158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 313.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2165.915139 meters looking forward 200.000000 meters along route # Maximum depth: 2170.432033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.915139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.123806; captureRadius = 10; duration = 101; initialDepth = 2082.959385; finalDepth = 2090.915139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7104990000003 # Actual altitude: 77.7104990000003 # Commanded vehicle depth:2090.915139 # Seafloor depth:-2168.257165 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.54; MB_Bottom_Detect_Filter_Max_Range = 310.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2157.959385 meters looking forward 200.000000 meters along route # Maximum depth: 2168.250193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.959385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.124329; captureRadius = 10; duration = 101; initialDepth = 2082.959385; finalDepth = 2082.959385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1307309999997 # Actual altitude: 82.1307309999997 # Commanded vehicle depth:2082.959385 # Seafloor depth:-2165.090116 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.43; MB_Bottom_Detect_Filter_Max_Range = 328.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2157.959385 meters looking forward 200.000000 meters along route # Maximum depth: 2164.184863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.959385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.124851; captureRadius = 10; duration = 101; initialDepth = 2081.788059; finalDepth = 2082.959385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1307309999997 # Actual altitude: 82.1307309999997 # Commanded vehicle depth:2082.959385 # Seafloor depth:-2158.082154 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.43; MB_Bottom_Detect_Filter_Max_Range = 328.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2156.788059 meters looking forward 200.000000 meters along route # Maximum depth: 2159.371943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.788059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946360; longitude = -129.125351; captureRadius = 10; duration = 101; initialDepth = 2081.788059; finalDepth = 2081.788059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.235126 # Actual altitude: 77.235126 # Commanded vehicle depth:2081.788059 # Seafloor depth:-2159.023185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 308.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.015125 meters # Minimum depth: 2156.788059 meters looking forward 200.000000 meters along route # Maximum depth: 2162.321178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.788059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945510; longitude = -129.125844; captureRadius = 10; duration = 101; initialDepth = 2078.602659; finalDepth = 2081.788059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.235126 # Actual altitude: 77.235126 # Commanded vehicle depth:2081.788059 # Seafloor depth:-2157.239416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 308.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.94; 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 20 # Segment length 101.015125 meters # Minimum depth: 2153.602659 meters looking forward 200.000000 meters along route # Maximum depth: 2162.598389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.602659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944671; longitude = -129.126332; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2064.460853; finalDepth = 2078.602659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9957300000001 # Actual altitude: 83.9957300000001 # Commanded vehicle depth:2078.602659 # Seafloor depth:-2162.598389 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 335.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.015125 meters # Minimum depth: 2139.460853 meters looking forward 200.000000 meters along route # Maximum depth: 2162.598389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.460853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944431; longitude = -129.125392; captureRadius = 10; duration = 101; initialDepth = 2063.099216; finalDepth = 2064.460853; 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: 87.945541 # Actual altitude: 87.945541 # Commanded vehicle depth:2064.460853 # Seafloor depth:-2152.406394 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.59; 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 19 # Segment length 101.015125 meters # Minimum depth: 2138.099216 meters looking forward 200.000000 meters along route # Maximum depth: 2153.602659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.099216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944101; longitude = -129.124102; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2061.123561; finalDepth = 2063.099216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.945541 # Actual altitude: 87.945541 # Commanded vehicle depth:2063.099216 # Seafloor depth:-2138.886292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.59; 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 19 # Segment length 101.015125 meters # Minimum depth: 2136.123561 meters looking forward 200.000000 meters along route # Maximum depth: 2140.730484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.123561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944791; longitude = -129.123702; captureRadius = 10; duration = 101; initialDepth = 2061.111271; finalDepth = 2061.123561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3692169999999 # Actual altitude: 77.3692169999999 # Commanded vehicle depth:2061.123561 # Seafloor depth:-2138.492778 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2136.111271 meters looking forward 200.000000 meters along route # Maximum depth: 2138.986755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.111271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945639; longitude = -129.123209; captureRadius = 10; duration = 101; initialDepth = 2061.339278; finalDepth = 2061.111271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3692169999999 # Actual altitude: 77.3692169999999 # Commanded vehicle depth:2061.111271 # Seafloor depth:-2136.111271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2136.339278 meters looking forward 200.000000 meters along route # Maximum depth: 2139.795870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.339278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946499; longitude = -129.122710; captureRadius = 10; duration = 101; initialDepth = 2062.651952; finalDepth = 2061.339278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6664420000002 # Actual altitude: 75.6664420000002 # Commanded vehicle depth:2061.339278 # Seafloor depth:-2137.005720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 302.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2137.651952 meters looking forward 200.000000 meters along route # Maximum depth: 2144.368322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.651952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947399; longitude = -129.122188; captureRadius = 10; duration = 101; initialDepth = 2066.320461; finalDepth = 2062.651952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6126469999999 # Actual altitude: 77.6126469999999 # Commanded vehicle depth:2062.651952 # Seafloor depth:-2140.264599 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 310.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2141.320461 meters looking forward 200.000000 meters along route # Maximum depth: 2147.265549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.320461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948298; longitude = -129.121666; captureRadius = 10; duration = 101; initialDepth = 2070.168794; finalDepth = 2066.320461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3553310000002 # Actual altitude: 78.3553310000002 # Commanded vehicle depth:2066.320461 # Seafloor depth:-2144.675792 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2145.168794 meters looking forward 200.000000 meters along route # Maximum depth: 2147.491099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.168794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949198; longitude = -129.121144; captureRadius = 10; duration = 101; initialDepth = 2070.965640; finalDepth = 2070.168794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3553310000002 # Actual altitude: 78.3553310000002 # Commanded vehicle depth:2070.168794 # Seafloor depth:-2147.406477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2145.965640 meters looking forward 200.000000 meters along route # Maximum depth: 2148.214562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.965640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950097; longitude = -129.120622; captureRadius = 10; duration = 101; initialDepth = 2070.965640; finalDepth = 2070.965640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2376829999998 # Actual altitude: 77.2376829999998 # Commanded vehicle depth:2070.96564 # Seafloor depth:-2146.072698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 308.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2145.965640 meters looking forward 200.000000 meters along route # Maximum depth: 2151.849686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.965640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950996; longitude = -129.120100; captureRadius = 10; duration = 101; initialDepth = 2073.474891; finalDepth = 2070.965640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3691330000001 # Actual altitude: 77.3691330000001 # Commanded vehicle depth:2070.96564 # Seafloor depth:-2148.334773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2148.474891 meters looking forward 200.000000 meters along route # Maximum depth: 2154.068324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.474891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951865; longitude = -129.119596; captureRadius = 10; duration = 101; initialDepth = 2074.886662; finalDepth = 2073.474891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9390740000003 # Actual altitude: 78.9390740000003 # Commanded vehicle depth:2073.474891 # Seafloor depth:-2152.413965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2149.886662 meters looking forward 200.000000 meters along route # Maximum depth: 2154.068324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.886662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952705; longitude = -129.119108; captureRadius = 10; duration = 101; initialDepth = 2070.907451; finalDepth = 2074.886662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9390740000003 # Actual altitude: 78.9390740000003 # Commanded vehicle depth:2074.886662 # Seafloor depth:-2153.054155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2145.907451 meters looking forward 200.000000 meters along route # Maximum depth: 2152.926785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.907451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953605; longitude = -129.118586; captureRadius = 10; duration = 101; initialDepth = 2069.226361; finalDepth = 2070.907451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.56034 # Actual altitude: 78.56034 # Commanded vehicle depth:2070.907451 # Seafloor depth:-2149.467791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 314.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2144.226361 meters looking forward 200.000000 meters along route # Maximum depth: 2148.887767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.226361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954504; longitude = -129.118064; captureRadius = 10; duration = 101; initialDepth = 2057.474405; finalDepth = 2069.226361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.56034 # Actual altitude: 78.56034 # Commanded vehicle depth:2069.226361 # Seafloor depth:-2145.500300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 314.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2132.474405 meters looking forward 200.000000 meters along route # Maximum depth: 2145.077478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.474405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955404; longitude = -129.117542; captureRadius = 10; duration = 101; initialDepth = 2057.474405; finalDepth = 2057.474405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4004680000003 # Actual altitude: 86.4004680000003 # Commanded vehicle depth:2057.474405 # Seafloor depth:-2143.874873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.28; MB_Bottom_Detect_Filter_Max_Range = 345.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2132.474405 meters looking forward 200.000000 meters along route # Maximum depth: 2143.174434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.474405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956303; longitude = -129.117020; captureRadius = 10; duration = 101; initialDepth = 2058.043741; finalDepth = 2057.474405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4004680000003 # Actual altitude: 86.4004680000003 # Commanded vehicle depth:2057.474405 # Seafloor depth:-2132.545926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.28; MB_Bottom_Detect_Filter_Max_Range = 345.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2133.043741 meters looking forward 200.000000 meters along route # Maximum depth: 2141.781107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.043741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957169; longitude = -129.116518; captureRadius = 10; duration = 101; initialDepth = 2065.841638; finalDepth = 2058.043741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1768660000002 # Actual altitude: 82.1768660000002 # Commanded vehicle depth:2058.043741 # Seafloor depth:-2140.220607 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 328.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2140.841638 meters looking forward 200.000000 meters along route # Maximum depth: 2141.997702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.841638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958012; longitude = -129.116028; captureRadius = 10; duration = 101; initialDepth = 2061.182836; finalDepth = 2065.841638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1768660000002 # Actual altitude: 82.1768660000002 # Commanded vehicle depth:2065.841638 # Seafloor depth:-2141.956807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 328.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2136.182836 meters looking forward 200.000000 meters along route # Maximum depth: 2141.997702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.182836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958911; longitude = -129.115506; captureRadius = 10; duration = 101; initialDepth = 2056.525635; finalDepth = 2061.182836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0595859999999 # Actual altitude: 80.0595859999999 # Commanded vehicle depth:2061.182836 # Seafloor depth:-2141.242422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2131.525635 meters looking forward 200.000000 meters along route # Maximum depth: 2140.943416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.525635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959811; longitude = -129.114984; captureRadius = 10; duration = 101; initialDepth = 2049.549959; finalDepth = 2056.525635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0595859999999 # Actual altitude: 80.0595859999999 # Commanded vehicle depth:2056.525635 # Seafloor depth:-2135.390407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2124.549959 meters looking forward 200.000000 meters along route # Maximum depth: 2134.518055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.549959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960710; longitude = -129.114462; captureRadius = 10; duration = 101; initialDepth = 2041.046640; finalDepth = 2049.549959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3683959999998 # Actual altitude: 81.3683959999998 # Commanded vehicle depth:2049.549959 # Seafloor depth:-2130.918355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 325.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2116.046640 meters looking forward 200.000000 meters along route # Maximum depth: 2130.223047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.046640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961609; longitude = -129.113940; captureRadius = 10; duration = 101; initialDepth = 2039.632087; finalDepth = 2041.046640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8813380000001 # Actual altitude: 82.8813380000001 # Commanded vehicle depth:2041.04664 # Seafloor depth:-2123.927978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 331.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2114.632087 meters looking forward 200.000000 meters along route # Maximum depth: 2122.760022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.632087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962472; longitude = -129.113439; captureRadius = 10; duration = 101; initialDepth = 2039.632087; finalDepth = 2039.632087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8813380000001 # Actual altitude: 82.8813380000001 # Commanded vehicle depth:2039.632087 # Seafloor depth:-2115.757233 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 331.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2114.632087 meters looking forward 200.000000 meters along route # Maximum depth: 2119.346926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.632087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963318; longitude = -129.112948; captureRadius = 10; duration = 101; initialDepth = 2042.025065; finalDepth = 2039.632087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8130799999999 # Actual altitude: 78.8130799999999 # Commanded vehicle depth:2039.632087 # Seafloor depth:-2118.445167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 315.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2117.025065 meters looking forward 200.000000 meters along route # Maximum depth: 2119.577582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.025065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964218; longitude = -129.112426; captureRadius = 10; duration = 101; initialDepth = 2042.025065; finalDepth = 2042.025065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8130799999999 # Actual altitude: 78.8130799999999 # Commanded vehicle depth:2042.025065 # Seafloor depth:-2117.349895 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 315.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2117.025065 meters looking forward 200.000000 meters along route # Maximum depth: 2130.225662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.025065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965117; longitude = -129.111904; captureRadius = 10; duration = 101; initialDepth = 2046.920488; finalDepth = 2042.025065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5057510000001 # Actual altitude: 78.5057510000001 # Commanded vehicle depth:2042.025065 # Seafloor depth:-2120.530816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 314.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2121.920488 meters looking forward 200.000000 meters along route # Maximum depth: 2133.329577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.920488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966017; longitude = -129.111382; captureRadius = 10; duration = 101; initialDepth = 2056.721345; finalDepth = 2046.920488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.1268989999999 # Actual altitude: 84.1268989999999 # Commanded vehicle depth:2046.920488 # Seafloor depth:-2131.047387 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.83; MB_Bottom_Detect_Filter_Max_Range = 336.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2131.721345 meters looking forward 200.000000 meters along route # Maximum depth: 2134.063673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.721345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966916; longitude = -129.110860; captureRadius = 10; duration = 101; initialDepth = 2058.137506; finalDepth = 2056.721345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.1268989999999 # Actual altitude: 84.1268989999999 # Commanded vehicle depth:2056.721345 # Seafloor depth:-2133.317273 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.83; MB_Bottom_Detect_Filter_Max_Range = 336.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2133.137506 meters looking forward 200.000000 meters along route # Maximum depth: 2135.880735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.137506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967776; longitude = -129.110361; captureRadius = 10; duration = 101; initialDepth = 2059.418006; finalDepth = 2058.137506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5959280000002 # Actual altitude: 76.5959280000002 # Commanded vehicle depth:2058.137506 # Seafloor depth:-2134.169066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2134.418006 meters looking forward 200.000000 meters along route # Maximum depth: 2139.923111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.418006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968625; longitude = -129.109869; captureRadius = 10; duration = 101; initialDepth = 2061.872806; finalDepth = 2059.418006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7442060000003 # Actual altitude: 76.7442060000003 # Commanded vehicle depth:2059.418006 # Seafloor depth:-2136.162212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 306.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2136.872806 meters looking forward 200.000000 meters along route # Maximum depth: 2140.935703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.872806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969524; longitude = -129.109347; captureRadius = 10; duration = 101; initialDepth = 2060.675652; finalDepth = 2061.872806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3305150000001 # Actual altitude: 78.3305150000001 # Commanded vehicle depth:2061.872806 # Seafloor depth:-2140.203321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2135.675652 meters looking forward 200.000000 meters along route # Maximum depth: 2140.935703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.675652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970424; longitude = -129.108825; captureRadius = 10; duration = 101; initialDepth = 2054.078333; finalDepth = 2060.675652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6341600000001 # Actual altitude: 79.6341600000001 # Commanded vehicle depth:2060.675652 # Seafloor depth:-2140.309812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 318.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2129.078333 meters looking forward 200.000000 meters along route # Maximum depth: 2139.695353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.078333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971323; longitude = -129.108303; captureRadius = 10; duration = 101; initialDepth = 2048.762096; finalDepth = 2054.078333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7520330000002 # Actual altitude: 80.7520330000002 # Commanded vehicle depth:2054.078333 # Seafloor depth:-2134.830366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 323.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2123.762096 meters looking forward 200.000000 meters along route # Maximum depth: 2133.968287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.762096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972222; longitude = -129.107781; captureRadius = 10; duration = 101; initialDepth = 2044.354994; finalDepth = 2048.762096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7520330000002 # Actual altitude: 80.7520330000002 # Commanded vehicle depth:2048.762096 # Seafloor depth:-2128.842025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 323.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2119.354994 meters looking forward 200.000000 meters along route # Maximum depth: 2128.528589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.354994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973080; longitude = -129.107283; captureRadius = 10; duration = 101; initialDepth = 2044.110499; finalDepth = 2044.354994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.079929 # Actual altitude: 80.079929 # Commanded vehicle depth:2044.354994 # Seafloor depth:-2123.356237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.02; MB_Bottom_Detect_Filter_Max_Range = 320.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2119.110499 meters looking forward 200.000000 meters along route # Maximum depth: 2122.193064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.110499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973931; longitude = -129.106789; captureRadius = 10; duration = 101; initialDepth = 2043.748428; finalDepth = 2044.110499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0012430000002 # Actual altitude: 79.0012430000002 # Commanded vehicle depth:2044.110499 # Seafloor depth:-2119.361086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 316.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2118.748428 meters looking forward 200.000000 meters along route # Maximum depth: 2119.479177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.748428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974831; longitude = -129.106267; captureRadius = 10; duration = 101; initialDepth = 2043.748428; finalDepth = 2043.748428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.398279 # Actual altitude: 75.398279 # Commanded vehicle depth:2043.748428 # Seafloor depth:-2119.146707 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 301.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2118.748428 meters looking forward 200.000000 meters along route # Maximum depth: 2119.697699 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.748428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975730; longitude = -129.105745; captureRadius = 10; duration = 101; initialDepth = 2042.932117; finalDepth = 2043.748428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.398279 # Actual altitude: 75.398279 # Commanded vehicle depth:2043.748428 # Seafloor depth:-2118.786781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 301.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2117.932117 meters looking forward 200.000000 meters along route # Maximum depth: 2119.711675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.932117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976630; longitude = -129.105223; captureRadius = 10; duration = 101; initialDepth = 2042.787271; finalDepth = 2042.932117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7795580000002 # Actual altitude: 76.7795580000002 # Commanded vehicle depth:2042.932117 # Seafloor depth:-2119.711675 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 307.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2117.787271 meters looking forward 200.000000 meters along route # Maximum depth: 2119.672812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.787271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977529; longitude = -129.104701; captureRadius = 10; duration = 101; initialDepth = 2042.787271; finalDepth = 2042.787271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7795580000002 # Actual altitude: 76.7795580000002 # Commanded vehicle depth:2042.787271 # Seafloor depth:-2117.874100 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 307.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2117.787271 meters looking forward 200.000000 meters along route # Maximum depth: 2121.703320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.787271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978428; longitude = -129.104179; captureRadius = 10; duration = 101; initialDepth = 2044.469081; finalDepth = 2042.787271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3695459999999 # Actual altitude: 76.3695459999999 # Commanded vehicle depth:2042.787271 # Seafloor depth:-2119.156817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2119.469081 meters looking forward 200.000000 meters along route # Maximum depth: 2121.776044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.469081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979328; longitude = -129.103657; captureRadius = 10; duration = 101; initialDepth = 2045.747176; finalDepth = 2044.469081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2763969999996 # Actual altitude: 77.2763969999996 # Commanded vehicle depth:2044.469081 # Seafloor depth:-2121.745478 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2120.747176 meters looking forward 200.000000 meters along route # Maximum depth: 2122.713087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.747176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980228; longitude = -129.103134; captureRadius = 10; duration = 101; initialDepth = 2046.432730; finalDepth = 2045.747176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2763969999996 # Actual altitude: 77.2763969999996 # Commanded vehicle depth:2045.747176 # Seafloor depth:-2121.156428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.015125 meters # Minimum depth: 2121.432730 meters looking forward 200.000000 meters along route # Maximum depth: 2126.038074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.432730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981151; longitude = -129.102599; captureRadius = 10; duration = 101; initialDepth = 2046.615341; finalDepth = 2046.432730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3904349999998 # Actual altitude: 76.3904349999998 # Commanded vehicle depth:2046.43273 # Seafloor depth:-2122.823165 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.56; 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 18 # Segment length 101.015125 meters # Minimum depth: 2121.615341 meters looking forward 200.000000 meters along route # Maximum depth: 2126.038452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.615341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981996; longitude = -129.102108; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2033.407081; finalDepth = 2046.615341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4231109999996 # Actual altitude: 79.4231109999996 # Commanded vehicle depth:2046.615341 # Seafloor depth:-2126.038452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 317.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.015125 meters # Minimum depth: 2108.407081 meters looking forward 200.000000 meters along route # Maximum depth: 2126.038452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.407081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981782; longitude = -129.101260; captureRadius = 10; duration = 101; initialDepth = 2032.923279; finalDepth = 2033.407081; 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: 86.878874 # Actual altitude: 86.878874 # Commanded vehicle depth:2033.407081 # Seafloor depth:-2120.285955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.38; MB_Bottom_Detect_Filter_Max_Range = 347.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 101.015125 meters # Minimum depth: 2107.923279 meters looking forward 200.000000 meters along route # Maximum depth: 2126.038452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.923279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981456; longitude = -129.099967; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2032.923279; finalDepth = 2032.923279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.878874 # Actual altitude: 86.878874 # Commanded vehicle depth:2032.923279 # Seafloor depth:-2107.923279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.38; MB_Bottom_Detect_Filter_Max_Range = 347.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2107.923279 meters looking forward 200.000000 meters along route # Maximum depth: 2117.356824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.923279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981396; longitude = -129.100001; captureRadius = 10; duration = 101; initialDepth = 2034.728451; finalDepth = 2032.923279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2634969999999 # Actual altitude: 75.2634969999999 # Commanded vehicle depth:2032.923279 # Seafloor depth:-2108.186776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.05; MB_Rate = 2; MB_Gain = 75; 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 17 # Segment length 101.015125 meters # Minimum depth: 2109.728451 meters looking forward 200.000000 meters along route # Maximum depth: 2114.665325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.728451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980497; longitude = -129.100522; captureRadius = 10; duration = 101; initialDepth = 2038.224978; finalDepth = 2034.728451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7682319999999 # Actual altitude: 78.7682319999999 # Commanded vehicle depth:2034.728451 # Seafloor depth:-2113.496683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2113.224978 meters looking forward 200.000000 meters along route # Maximum depth: 2114.711890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.224978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979598; longitude = -129.101042; captureRadius = 10; duration = 101; initialDepth = 2036.340740; finalDepth = 2038.224978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7682319999999 # Actual altitude: 78.7682319999999 # Commanded vehicle depth:2038.224978 # Seafloor depth:-2114.711890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2111.340740 meters looking forward 200.000000 meters along route # Maximum depth: 2114.709156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.340740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978698; longitude = -129.101562; captureRadius = 10; duration = 101; initialDepth = 2032.592118; finalDepth = 2036.340740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8378709999997 # Actual altitude: 76.8378709999997 # Commanded vehicle depth:2036.34074 # Seafloor depth:-2113.178611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2107.592118 meters looking forward 200.000000 meters along route # Maximum depth: 2113.093760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.592118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977831; longitude = -129.102063; captureRadius = 10; duration = 101; initialDepth = 2029.770699; finalDepth = 2032.592118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4697780000001 # Actual altitude: 78.4697780000001 # Commanded vehicle depth:2032.592118 # Seafloor depth:-2111.061896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2104.770699 meters looking forward 200.000000 meters along route # Maximum depth: 2110.570590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.770699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976989; longitude = -129.102550; captureRadius = 10; duration = 101; initialDepth = 2029.316531; finalDepth = 2029.770699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4697780000001 # Actual altitude: 78.4697780000001 # Commanded vehicle depth:2029.770699 # Seafloor depth:-2106.889196 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2104.316531 meters looking forward 200.000000 meters along route # Maximum depth: 2105.579745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.316531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976090; longitude = -129.103070; captureRadius = 10; duration = 101; initialDepth = 2029.316531; finalDepth = 2029.316531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1184969999999 # Actual altitude: 77.1184969999999 # Commanded vehicle depth:2029.316531 # Seafloor depth:-2105.254700 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 308.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2104.316531 meters looking forward 200.000000 meters along route # Maximum depth: 2105.019668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.316531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975190; longitude = -129.103590; captureRadius = 10; duration = 101; initialDepth = 2028.904859; finalDepth = 2029.316531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.938169 # Actual altitude: 75.938169 # Commanded vehicle depth:2029.316531 # Seafloor depth:-2104.602631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2103.904859 meters looking forward 200.000000 meters along route # Maximum depth: 2105.019668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.904859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974291; longitude = -129.104110; captureRadius = 10; duration = 101; initialDepth = 2028.904859; finalDepth = 2028.904859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0313529999999 # Actual altitude: 76.0313529999999 # Commanded vehicle depth:2028.904859 # Seafloor depth:-2104.936212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2103.904859 meters looking forward 200.000000 meters along route # Maximum depth: 2107.993646 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.904859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973434; longitude = -129.104606; captureRadius = 10; duration = 101; initialDepth = 2029.703457; finalDepth = 2028.904859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0313529999999 # Actual altitude: 76.0313529999999 # Commanded vehicle depth:2028.904859 # Seafloor depth:-2104.360470 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2104.703457 meters looking forward 200.000000 meters along route # Maximum depth: 2114.261057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.703457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972582; longitude = -129.105099; captureRadius = 10; duration = 101; initialDepth = 2034.907553; finalDepth = 2029.703457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9705039999999 # Actual altitude: 78.9705039999999 # Commanded vehicle depth:2029.703457 # Seafloor depth:-2108.673961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2109.907553 meters looking forward 200.000000 meters along route # Maximum depth: 2119.614077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.907553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971683; longitude = -129.105619; captureRadius = 10; duration = 101; initialDepth = 2041.208834; finalDepth = 2034.907553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0397589999998 # Actual altitude: 80.0397589999998 # Commanded vehicle depth:2034.907553 # Seafloor depth:-2114.947312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2116.208834 meters looking forward 200.000000 meters along route # Maximum depth: 2122.778557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.208834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970783; longitude = -129.106139; captureRadius = 10; duration = 101; initialDepth = 2045.375558; finalDepth = 2041.208834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0397589999998 # Actual altitude: 80.0397589999998 # Commanded vehicle depth:2041.208834 # Seafloor depth:-2120.036253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2120.375558 meters looking forward 200.000000 meters along route # Maximum depth: 2125.821195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.375558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969884; longitude = -129.106659; captureRadius = 10; duration = 101; initialDepth = 2048.693942; finalDepth = 2045.375558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8274190000002 # Actual altitude: 78.8274190000002 # Commanded vehicle depth:2045.375558 # Seafloor depth:-2123.255251 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2123.693942 meters looking forward 200.000000 meters along route # Maximum depth: 2125.858326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.693942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969036; longitude = -129.107149; captureRadius = 10; duration = 101; initialDepth = 2047.372785; finalDepth = 2048.693942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8796929999999 # Actual altitude: 77.8796929999999 # Commanded vehicle depth:2048.693942 # Seafloor depth:-2125.848450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2122.372785 meters looking forward 200.000000 meters along route # Maximum depth: 2125.782878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.372785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968175; longitude = -129.107647; captureRadius = 10; duration = 101; initialDepth = 2044.803071; finalDepth = 2047.372785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1545080000001 # Actual altitude: 77.1545080000001 # Commanded vehicle depth:2047.372785 # Seafloor depth:-2123.571712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2119.803071 meters looking forward 200.000000 meters along route # Maximum depth: 2123.079213 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.803071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967276; longitude = -129.108167; captureRadius = 10; duration = 101; initialDepth = 2043.208638; finalDepth = 2044.803071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3691360000003 # Actual altitude: 77.3691360000003 # Commanded vehicle depth:2044.803071 # Seafloor depth:-2122.172207 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2118.208638 meters looking forward 200.000000 meters along route # Maximum depth: 2121.770251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.208638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966376; longitude = -129.108687; captureRadius = 10; duration = 101; initialDepth = 2039.391074; finalDepth = 2043.208638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3691360000003 # Actual altitude: 77.3691360000003 # Commanded vehicle depth:2043.208638 # Seafloor depth:-2119.586963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2114.391074 meters looking forward 200.000000 meters along route # Maximum depth: 2119.082976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.391074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965477; longitude = -129.109208; captureRadius = 10; duration = 101; initialDepth = 2032.638170; finalDepth = 2039.391074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7017689999998 # Actual altitude: 78.7017689999998 # Commanded vehicle depth:2039.391074 # Seafloor depth:-2118.092843 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 314.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2107.638170 meters looking forward 200.000000 meters along route # Maximum depth: 2117.869272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.638170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964577; longitude = -129.109728; captureRadius = 10; duration = 101; initialDepth = 2017.044934; finalDepth = 2032.638170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3603089999997 # Actual altitude: 81.3603089999997 # Commanded vehicle depth:2032.63817 # Seafloor depth:-2113.998479 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 325.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2092.044934 meters looking forward 200.000000 meters along route # Maximum depth: 2113.275997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.044934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963713; longitude = -129.110227; captureRadius = 10; duration = 101; initialDepth = 2011.849005; finalDepth = 2017.044934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.9715289999999 # Actual altitude: 89.9715289999999 # Commanded vehicle depth:2017.044934 # Seafloor depth:-2107.016463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.99; 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 17 # Segment length 101.015125 meters # Minimum depth: 2086.849005 meters looking forward 200.000000 meters along route # Maximum depth: 2105.345798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.849005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962869; longitude = -129.110716; captureRadius = 10; duration = 101; initialDepth = 2011.849005; finalDepth = 2011.849005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.9715289999999 # Actual altitude: 89.9715289999999 # Commanded vehicle depth:2011.849005 # Seafloor depth:-2090.288972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.99; 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 17 # Segment length 101.015125 meters # Minimum depth: 2086.849005 meters looking forward 200.000000 meters along route # Maximum depth: 2103.319975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.849005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961969; longitude = -129.111236; captureRadius = 10; duration = 101; initialDepth = 2018.211393; finalDepth = 2011.849005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0218089999998 # Actual altitude: 79.0218089999998 # Commanded vehicle depth:2011.849005 # Seafloor depth:-2090.870814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 316.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2093.211393 meters looking forward 200.000000 meters along route # Maximum depth: 2112.657366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.211393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961070; longitude = -129.111756; captureRadius = 10; duration = 101; initialDepth = 2031.235348; finalDepth = 2018.211393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7057850000001 # Actual altitude: 86.7057850000001 # Commanded vehicle depth:2018.211393 # Seafloor depth:-2104.917178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.34; MB_Bottom_Detect_Filter_Max_Range = 346.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2106.235348 meters looking forward 200.000000 meters along route # Maximum depth: 2113.568407 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.235348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.112276; captureRadius = 10; duration = 101; initialDepth = 2038.029601; finalDepth = 2031.235348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7057850000001 # Actual altitude: 86.7057850000001 # Commanded vehicle depth:2031.235348 # Seafloor depth:-2112.837132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.34; MB_Bottom_Detect_Filter_Max_Range = 346.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2113.029601 meters looking forward 200.000000 meters along route # Maximum depth: 2114.940271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.029601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959316; longitude = -129.112770; captureRadius = 10; duration = 101; initialDepth = 2039.072998; finalDepth = 2038.029601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.601784 # Actual altitude: 81.601784 # Commanded vehicle depth:2038.029601 # Seafloor depth:-2113.658285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 326.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2114.072998 meters looking forward 200.000000 meters along route # Maximum depth: 2116.557694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.072998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958462; longitude = -129.113264; captureRadius = 10; duration = 101; initialDepth = 2039.683356; finalDepth = 2039.072998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6286839999998 # Actual altitude: 75.6286839999998 # Commanded vehicle depth:2039.072998 # Seafloor depth:-2114.606476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 302.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2114.683356 meters looking forward 200.000000 meters along route # Maximum depth: 2116.557694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.683356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957562; longitude = -129.113785; captureRadius = 10; duration = 101; initialDepth = 2040.820313; finalDepth = 2039.683356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8508179999999 # Actual altitude: 76.8508179999999 # Commanded vehicle depth:2039.683356 # Seafloor depth:-2116.534174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2115.820313 meters looking forward 200.000000 meters along route # Maximum depth: 2123.753345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.820313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956663; longitude = -129.114305; captureRadius = 10; duration = 101; initialDepth = 2041.189023; finalDepth = 2040.820313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8508179999999 # Actual altitude: 76.8508179999999 # Commanded vehicle depth:2040.820313 # Seafloor depth:-2116.003372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2116.189023 meters looking forward 200.000000 meters along route # Maximum depth: 2129.393766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.189023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955763; longitude = -129.114825; captureRadius = 10; duration = 101; initialDepth = 2050.807931; finalDepth = 2041.189023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5451040000003 # Actual altitude: 83.5451040000003 # Commanded vehicle depth:2041.189023 # Seafloor depth:-2124.734127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 334.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2125.807931 meters looking forward 200.000000 meters along route # Maximum depth: 2129.393766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.807931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954919; longitude = -129.115313; captureRadius = 10; duration = 101; initialDepth = 2050.418456; finalDepth = 2050.807931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5451040000003 # Actual altitude: 83.5451040000003 # Commanded vehicle depth:2050.807931 # Seafloor depth:-2128.897696 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 334.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2125.418456 meters looking forward 200.000000 meters along route # Maximum depth: 2128.946467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.418456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954054; longitude = -129.115813; captureRadius = 10; duration = 101; initialDepth = 2050.418456; finalDepth = 2050.418456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0897650000002 # Actual altitude: 78.0897650000002 # Commanded vehicle depth:2050.418456 # Seafloor depth:-2128.337037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2125.418456 meters looking forward 200.000000 meters along route # Maximum depth: 2128.484881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.418456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953155; longitude = -129.116333; captureRadius = 10; duration = 101; initialDepth = 2051.207343; finalDepth = 2050.418456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9185809999999 # Actual altitude: 77.9185809999999 # Commanded vehicle depth:2050.418456 # Seafloor depth:-2125.620037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2126.207343 meters looking forward 200.000000 meters along route # Maximum depth: 2129.701811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.207343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952256; longitude = -129.116853; captureRadius = 10; duration = 101; initialDepth = 2049.430201; finalDepth = 2051.207343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7710499999998 # Actual altitude: 77.7710499999998 # Commanded vehicle depth:2051.207343 # Seafloor depth:-2128.978393 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2124.430201 meters looking forward 200.000000 meters along route # Maximum depth: 2129.701811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.430201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951356; longitude = -129.117373; captureRadius = 10; duration = 101; initialDepth = 2049.141063; finalDepth = 2049.430201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7710499999998 # Actual altitude: 77.7710499999998 # Commanded vehicle depth:2049.430201 # Seafloor depth:-2125.757048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 311.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2124.141063 meters looking forward 200.000000 meters along route # Maximum depth: 2125.374778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.141063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950457; longitude = -129.117894; captureRadius = 10; duration = 101; initialDepth = 2049.141063; finalDepth = 2049.141063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3268469999998 # Actual altitude: 76.3268469999998 # Commanded vehicle depth:2049.141063 # Seafloor depth:-2124.382619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2124.141063 meters looking forward 200.000000 meters along route # Maximum depth: 2125.006888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.141063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949596; longitude = -129.118391; captureRadius = 10; duration = 101; initialDepth = 2049.366967; finalDepth = 2049.141063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5435499999999 # Actual altitude: 75.5435499999999 # Commanded vehicle depth:2049.141063 # Seafloor depth:-2124.684613 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2124.366967 meters looking forward 200.000000 meters along route # Maximum depth: 2126.396633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.366967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948748; longitude = -129.118882; captureRadius = 10; duration = 101; initialDepth = 2047.371885; finalDepth = 2049.366967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5435499999999 # Actual altitude: 75.5435499999999 # Commanded vehicle depth:2049.366967 # Seafloor depth:-2124.391684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2122.371885 meters looking forward 200.000000 meters along route # Maximum depth: 2126.396633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.371885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947849; longitude = -129.119402; captureRadius = 10; duration = 101; initialDepth = 2044.640386; finalDepth = 2047.371885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1274060000001 # Actual altitude: 78.1274060000001 # Commanded vehicle depth:2047.371885 # Seafloor depth:-2125.499291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2119.640386 meters looking forward 200.000000 meters along route # Maximum depth: 2123.986496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.640386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946949; longitude = -129.119922; captureRadius = 10; duration = 101; initialDepth = 2043.088399; finalDepth = 2044.640386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7870239999997 # Actual altitude: 78.7870239999997 # Commanded vehicle depth:2044.640386 # Seafloor depth:-2123.427410 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 315.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2118.088399 meters looking forward 200.000000 meters along route # Maximum depth: 2123.766838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.088399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946050; longitude = -129.120442; captureRadius = 10; duration = 101; initialDepth = 2043.088399; finalDepth = 2043.088399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7870239999997 # Actual altitude: 78.7870239999997 # Commanded vehicle depth:2043.088399 # Seafloor depth:-2119.047447 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 315.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2118.088399 meters looking forward 200.000000 meters along route # Maximum depth: 2120.749494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.088399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945199; longitude = -129.120934; captureRadius = 10; duration = 101; initialDepth = 2045.212997; finalDepth = 2043.088399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1350559999996 # Actual altitude: 77.1350559999996 # Commanded vehicle depth:2043.088399 # Seafloor depth:-2120.223455 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.015125 meters # Minimum depth: 2120.212997 meters looking forward 200.000000 meters along route # Maximum depth: 2125.004338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.212997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944341; longitude = -129.121430; captureRadius = 10; duration = 101; initialDepth = 2043.403232; finalDepth = 2045.212997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1350559999996 # Actual altitude: 77.1350559999996 # Commanded vehicle depth:2045.212997 # Seafloor depth:-2120.702823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.54; 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 16 # Segment length 101.015125 meters # Minimum depth: 2118.403232 meters looking forward 200.000000 meters along route # Maximum depth: 2125.212402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.403232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943501; longitude = -129.121916; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2035.931468; finalDepth = 2043.403232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.80917 # Actual altitude: 81.80917 # Commanded vehicle depth:2043.403232 # Seafloor depth:-2125.212402 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 327.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.015125 meters # Minimum depth: 2110.931468 meters looking forward 200.000000 meters along route # Maximum depth: 2125.212402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.931468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943262; longitude = -129.120905; captureRadius = 10; duration = 101; initialDepth = 2035.290588; finalDepth = 2035.931468; 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: 82.2858329999999 # Actual altitude: 82.2858329999999 # Commanded vehicle depth:2035.931468 # Seafloor depth:-2118.217301 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 101.015125 meters # Minimum depth: 2110.290588 meters looking forward 200.000000 meters along route # Maximum depth: 2119.280276 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.290588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942962; longitude = -129.119640; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2035.290588; finalDepth = 2035.290588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2858329999999 # Actual altitude: 82.2858329999999 # Commanded vehicle depth:2035.290588 # Seafloor depth:-2110.290588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2110.290588 meters looking forward 200.000000 meters along route # Maximum depth: 2111.974284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.290588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943621; longitude = -129.119258; captureRadius = 10; duration = 101; initialDepth = 2036.011033; finalDepth = 2035.290588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5248120000001 # Actual altitude: 76.5248120000001 # Commanded vehicle depth:2035.290588 # Seafloor depth:-2111.815400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 306.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2111.011033 meters looking forward 200.000000 meters along route # Maximum depth: 2111.974284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.011033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944521; longitude = -129.118736; captureRadius = 10; duration = 101; initialDepth = 2033.429739; finalDepth = 2036.011033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5248120000001 # Actual altitude: 76.5248120000001 # Commanded vehicle depth:2036.011033 # Seafloor depth:-2111.335448 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 306.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2108.429739 meters looking forward 200.000000 meters along route # Maximum depth: 2111.309103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.429739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945420; longitude = -129.118215; captureRadius = 10; duration = 101; initialDepth = 2033.340851; finalDepth = 2033.429739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4444140000001 # Actual altitude: 77.4444140000001 # Commanded vehicle depth:2033.429739 # Seafloor depth:-2110.874153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 309.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2108.340851 meters looking forward 200.000000 meters along route # Maximum depth: 2111.347186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.340851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946271; longitude = -129.117722; captureRadius = 10; duration = 101; initialDepth = 2032.753357; finalDepth = 2033.340851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4444140000001 # Actual altitude: 77.4444140000001 # Commanded vehicle depth:2033.340851 # Seafloor depth:-2109.463048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 309.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.753357 meters looking forward 200.000000 meters along route # Maximum depth: 2111.347186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.753357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947129; longitude = -129.117225; captureRadius = 10; duration = 101; initialDepth = 2032.630877; finalDepth = 2032.753357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1221970000001 # Actual altitude: 76.1221970000001 # Commanded vehicle depth:2032.753357 # Seafloor depth:-2108.001870 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.630877 meters looking forward 200.000000 meters along route # Maximum depth: 2108.939795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.630877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948028; longitude = -129.116703; captureRadius = 10; duration = 101; initialDepth = 2032.630877; finalDepth = 2032.630877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3089179999997 # Actual altitude: 76.3089179999997 # Commanded vehicle depth:2032.630877 # Seafloor depth:-2108.939795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.630877 meters looking forward 200.000000 meters along route # Maximum depth: 2108.696824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.630877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948928; longitude = -129.116182; captureRadius = 10; duration = 101; initialDepth = 2032.772597; finalDepth = 2032.630877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3089179999997 # Actual altitude: 76.3089179999997 # Commanded vehicle depth:2032.630877 # Seafloor depth:-2108.361690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.772597 meters looking forward 200.000000 meters along route # Maximum depth: 2109.815713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.772597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949827; longitude = -129.115660; captureRadius = 10; duration = 101; initialDepth = 2032.921297; finalDepth = 2032.772597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7308130000001 # Actual altitude: 75.7308130000001 # Commanded vehicle depth:2032.772597 # Seafloor depth:-2107.794583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.15; MB_Bottom_Detect_Filter_Max_Range = 302.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.921297 meters looking forward 200.000000 meters along route # Maximum depth: 2110.242167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.921297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950727; longitude = -129.115139; captureRadius = 10; duration = 101; initialDepth = 2032.222762; finalDepth = 2032.921297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8139920000003 # Actual altitude: 76.8139920000003 # Commanded vehicle depth:2032.921297 # Seafloor depth:-2109.735289 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 307.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.222762 meters looking forward 200.000000 meters along route # Maximum depth: 2110.242167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.222762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951581; longitude = -129.114644; captureRadius = 10; duration = 101; initialDepth = 2031.843394; finalDepth = 2032.222762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8139920000003 # Actual altitude: 76.8139920000003 # Commanded vehicle depth:2032.222762 # Seafloor depth:-2107.868441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 307.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2106.843394 meters looking forward 200.000000 meters along route # Maximum depth: 2107.547049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.843394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952436; longitude = -129.114149; captureRadius = 10; duration = 101; initialDepth = 2031.843394; finalDepth = 2031.843394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6456790000002 # Actual altitude: 75.6456790000002 # Commanded vehicle depth:2031.843394 # Seafloor depth:-2107.367414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.58; MB_Rate = 2; MB_Gain = 75; 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 15 # Segment length 101.015125 meters # Minimum depth: 2106.843394 meters looking forward 200.000000 meters along route # Maximum depth: 2114.153565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.843394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953335; longitude = -129.113627; captureRadius = 10; duration = 101; initialDepth = 2034.103941; finalDepth = 2031.843394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7093759999998 # Actual altitude: 75.7093759999998 # Commanded vehicle depth:2031.843394 # Seafloor depth:-2107.552770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 302.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2109.103941 meters looking forward 200.000000 meters along route # Maximum depth: 2114.549931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.103941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.113106; captureRadius = 10; duration = 101; initialDepth = 2031.616017; finalDepth = 2034.103941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.259497 # Actual altitude: 80.259497 # Commanded vehicle depth:2034.103941 # Seafloor depth:-2114.363438 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 321.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2106.616017 meters looking forward 200.000000 meters along route # Maximum depth: 2114.549931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.616017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955134; longitude = -129.112584; captureRadius = 10; duration = 101; initialDepth = 2024.833046; finalDepth = 2031.616017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2849220000003 # Actual altitude: 80.2849220000003 # Commanded vehicle depth:2031.616017 # Seafloor depth:-2111.900939 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 321.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2099.833046 meters looking forward 200.000000 meters along route # Maximum depth: 2111.709623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.833046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956033; longitude = -129.112063; captureRadius = 10; duration = 101; initialDepth = 2022.096822; finalDepth = 2024.833046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2428089999999 # Actual altitude: 81.2428089999999 # Commanded vehicle depth:2024.833046 # Seafloor depth:-2106.075855 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 324.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2097.096822 meters looking forward 200.000000 meters along route # Maximum depth: 2105.234972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.096822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956891; longitude = -129.111566; captureRadius = 10; duration = 101; initialDepth = 2019.553226; finalDepth = 2022.096822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2428089999999 # Actual altitude: 81.2428089999999 # Commanded vehicle depth:2022.096822 # Seafloor depth:-2099.960373 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 324.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2094.553226 meters looking forward 200.000000 meters along route # Maximum depth: 2099.997297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.553226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957742; longitude = -129.111073; captureRadius = 10; duration = 101; initialDepth = 2017.037972; finalDepth = 2019.553226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8635509999999 # Actual altitude: 77.8635509999999 # Commanded vehicle depth:2019.553226 # Seafloor depth:-2096.680804 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 311.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2092.037972 meters looking forward 200.000000 meters along route # Maximum depth: 2096.198245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.037972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958641; longitude = -129.110551; captureRadius = 10; duration = 101; initialDepth = 2017.037972; finalDepth = 2017.037972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2522739999999 # Actual altitude: 77.2522739999999 # Commanded vehicle depth:2017.037972 # Seafloor depth:-2094.290246 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 309.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2092.037972 meters looking forward 200.000000 meters along route # Maximum depth: 2094.881904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.037972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959541; longitude = -129.110030; captureRadius = 10; duration = 101; initialDepth = 2018.142999; finalDepth = 2017.037972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2522739999999 # Actual altitude: 77.2522739999999 # Commanded vehicle depth:2017.037972 # Seafloor depth:-2092.392932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.45; MB_Bottom_Detect_Filter_Max_Range = 309.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2093.142999 meters looking forward 200.000000 meters along route # Maximum depth: 2095.728301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.142999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960440; longitude = -129.109508; captureRadius = 10; duration = 101; initialDepth = 2017.642791; finalDepth = 2018.142999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0069819999999 # Actual altitude: 77.0069819999999 # Commanded vehicle depth:2018.142999 # Seafloor depth:-2095.149981 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 308.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2092.642791 meters looking forward 200.000000 meters along route # Maximum depth: 2095.728301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.642791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961340; longitude = -129.108987; captureRadius = 10; duration = 101; initialDepth = 2017.642791; finalDepth = 2017.642791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0069819999999 # Actual altitude: 77.0069819999999 # Commanded vehicle depth:2017.642791 # Seafloor depth:-2093.840840 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 308.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2092.642791 meters looking forward 200.000000 meters along route # Maximum depth: 2096.357188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.642791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962202; longitude = -129.108487; captureRadius = 10; duration = 101; initialDepth = 2018.361881; finalDepth = 2017.642791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1980489999996 # Actual altitude: 76.1980489999996 # Commanded vehicle depth:2017.642791 # Seafloor depth:-2092.971439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 304.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2093.361881 meters looking forward 200.000000 meters along route # Maximum depth: 2101.780776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.361881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963048; longitude = -129.107997; captureRadius = 10; duration = 101; initialDepth = 2023.463121; finalDepth = 2018.361881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.766979 # Actual altitude: 78.766979 # Commanded vehicle depth:2018.361881 # Seafloor depth:-2097.128860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2098.463121 meters looking forward 200.000000 meters along route # Maximum depth: 2107.442703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.463121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963948; longitude = -129.107475; captureRadius = 10; duration = 101; initialDepth = 2028.669207; finalDepth = 2023.463121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8865450000003 # Actual altitude: 78.8865450000003 # Commanded vehicle depth:2023.463121 # Seafloor depth:-2102.349666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2103.669207 meters looking forward 200.000000 meters along route # Maximum depth: 2107.960337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.669207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964847; longitude = -129.106954; captureRadius = 10; duration = 101; initialDepth = 2032.511205; finalDepth = 2028.669207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.003033 # Actual altitude: 79.003033 # Commanded vehicle depth:2028.669207 # Seafloor depth:-2107.672240 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 316.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.511205 meters looking forward 200.000000 meters along route # Maximum depth: 2109.267795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.511205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965747; longitude = -129.106433; captureRadius = 10; duration = 101; initialDepth = 2033.229225; finalDepth = 2032.511205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.003033 # Actual altitude: 79.003033 # Commanded vehicle depth:2032.511205 # Seafloor depth:-2107.970562 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 316.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2108.229225 meters looking forward 200.000000 meters along route # Maximum depth: 2109.565394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.229225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966646; longitude = -129.105911; captureRadius = 10; duration = 101; initialDepth = 2034.184902; finalDepth = 2033.229225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0861639999998 # Actual altitude: 76.0861639999998 # Commanded vehicle depth:2033.229225 # Seafloor depth:-2109.315389 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2109.184902 meters looking forward 200.000000 meters along route # Maximum depth: 2109.872157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.184902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967512; longitude = -129.105409; captureRadius = 10; duration = 101; initialDepth = 2032.297243; finalDepth = 2034.184902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0861639999998 # Actual altitude: 76.0861639999998 # Commanded vehicle depth:2034.184902 # Seafloor depth:-2109.353442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2107.297243 meters looking forward 200.000000 meters along route # Maximum depth: 2109.872157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.297243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968355; longitude = -129.104921; captureRadius = 10; duration = 101; initialDepth = 2027.509797; finalDepth = 2032.297243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.05474 # Actual altitude: 77.05474 # Commanded vehicle depth:2032.297243 # Seafloor depth:-2109.351983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2102.509797 meters looking forward 200.000000 meters along route # Maximum depth: 2108.979866 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.509797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969254; longitude = -129.104399; captureRadius = 10; duration = 101; initialDepth = 2023.476443; finalDepth = 2027.509797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3805559999996 # Actual altitude: 79.3805559999996 # Commanded vehicle depth:2027.509797 # Seafloor depth:-2106.890353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 317.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2098.476443 meters looking forward 200.000000 meters along route # Maximum depth: 2106.051350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.476443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970154; longitude = -129.103878; captureRadius = 10; duration = 101; initialDepth = 2018.588275; finalDepth = 2023.476443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3805559999996 # Actual altitude: 79.3805559999996 # Commanded vehicle depth:2023.476443 # Seafloor depth:-2102.104421 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 317.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2093.588275 meters looking forward 200.000000 meters along route # Maximum depth: 2101.560694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.588275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971053; longitude = -129.103357; captureRadius = 10; duration = 101; initialDepth = 2014.353578; finalDepth = 2018.588275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4261219999999 # Actual altitude: 79.4261219999999 # Commanded vehicle depth:2018.588275 # Seafloor depth:-2098.014397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 317.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2089.353578 meters looking forward 200.000000 meters along route # Maximum depth: 2097.054505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2014.353578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971953; longitude = -129.102835; captureRadius = 10; duration = 101; initialDepth = 2013.516042; finalDepth = 2014.353578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4261219999999 # Actual altitude: 79.4261219999999 # Commanded vehicle depth:2014.353578 # Seafloor depth:-2093.302736 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 317.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2088.516042 meters looking forward 200.000000 meters along route # Maximum depth: 2092.881802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.516042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972822; longitude = -129.102331; captureRadius = 10; duration = 101; initialDepth = 2013.398154; finalDepth = 2013.516042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9491579999999 # Actual altitude: 78.9491579999999 # Commanded vehicle depth:2013.516042 # Seafloor depth:-2089.246682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 315.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2088.398154 meters looking forward 200.000000 meters along route # Maximum depth: 2089.076902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.398154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973661; longitude = -129.101845; captureRadius = 10; duration = 101; initialDepth = 2013.398154; finalDepth = 2013.398154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7306399999998 # Actual altitude: 75.7306399999998 # Commanded vehicle depth:2013.398154 # Seafloor depth:-2088.425737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.15; MB_Bottom_Detect_Filter_Max_Range = 302.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2088.398154 meters looking forward 200.000000 meters along route # Maximum depth: 2090.006519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.398154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974561; longitude = -129.101323; captureRadius = 10; duration = 101; initialDepth = 2013.961473; finalDepth = 2013.398154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3287530000002 # Actual altitude: 75.3287530000002 # Commanded vehicle depth:2013.398154 # Seafloor depth:-2088.726907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.07; MB_Bottom_Detect_Filter_Max_Range = 301.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2088.961473 meters looking forward 200.000000 meters along route # Maximum depth: 2090.769082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.961473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975460; longitude = -129.100802; captureRadius = 10; duration = 101; initialDepth = 2005.667077; finalDepth = 2013.961473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1307820000002 # Actual altitude: 76.1307820000002 # Commanded vehicle depth:2013.961473 # Seafloor depth:-2090.092255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 304.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2080.667077 meters looking forward 200.000000 meters along route # Maximum depth: 2090.769082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.667077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976360; longitude = -129.100281; captureRadius = 10; duration = 101; initialDepth = 2001.535422; finalDepth = 2005.667077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0127240000002 # Actual altitude: 85.0127240000002 # Commanded vehicle depth:2005.667077 # Seafloor depth:-2090.679801 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.00; MB_Bottom_Detect_Filter_Max_Range = 340.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2076.535422 meters looking forward 200.000000 meters along route # Maximum depth: 2090.270105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.535422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977259; longitude = -129.099759; captureRadius = 10; duration = 101; initialDepth = 2001.535422; finalDepth = 2001.535422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0127240000002 # Actual altitude: 85.0127240000002 # Commanded vehicle depth:2001.535422 # Seafloor depth:-2079.935094 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.00; MB_Bottom_Detect_Filter_Max_Range = 340.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2076.535422 meters looking forward 200.000000 meters along route # Maximum depth: 2081.959124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.535422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978158; longitude = -129.099238; captureRadius = 10; duration = 101; initialDepth = 2004.439002; finalDepth = 2001.535422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.399672 # Actual altitude: 78.399672 # Commanded vehicle depth:2001.535422 # Seafloor depth:-2078.495858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 313.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2079.439002 meters looking forward 200.000000 meters along route # Maximum depth: 2082.673456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2004.439002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979058; longitude = -129.098716; captureRadius = 10; duration = 101; initialDepth = 2004.715790; finalDepth = 2004.439002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4393679999998 # Actual altitude: 77.4393679999998 # Commanded vehicle depth:2004.439002 # Seafloor depth:-2081.878370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 309.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.015125 meters # Minimum depth: 2079.715790 meters looking forward 200.000000 meters along route # Maximum depth: 2087.786314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2004.715790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979980; longitude = -129.098182; captureRadius = 10; duration = 101; initialDepth = 2005.567501; finalDepth = 2004.715790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1871579999997 # Actual altitude: 78.1871579999997 # Commanded vehicle depth:2004.71579 # Seafloor depth:-2082.902948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.75; 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 14 # Segment length 101.015125 meters # Minimum depth: 2080.567501 meters looking forward 200.000000 meters along route # Maximum depth: 2088.009521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.567501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980827; longitude = -129.097691; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2008.841330; finalDepth = 2005.567501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.44202 # Actual altitude: 82.44202 # Commanded vehicle depth:2005.567501 # Seafloor depth:-2088.009521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 329.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.015125 meters # Minimum depth: 2083.841330 meters looking forward 200.000000 meters along route # Maximum depth: 2088.009521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.841330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980610; longitude = -129.096844; captureRadius = 10; duration = 101; initialDepth = 2006.194268; finalDepth = 2008.841330; 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: 82.44202 # Actual altitude: 82.44202 # Commanded vehicle depth:2008.84133 # Seafloor depth:-2086.848584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 329.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 101.015125 meters # Minimum depth: 2081.194268 meters looking forward 200.000000 meters along route # Maximum depth: 2086.921882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.194268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980257; longitude = -129.095461; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2001.569746; finalDepth = 2006.194268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0072539999996 # Actual altitude: 78.0072539999996 # Commanded vehicle depth:2006.194268 # Seafloor depth:-2083.688782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 312.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2076.569746 meters looking forward 200.000000 meters along route # Maximum depth: 2083.841330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.569746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979598; longitude = -129.095843; captureRadius = 10; duration = 101; initialDepth = 1995.633612; finalDepth = 2001.569746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2382829999997 # Actual altitude: 79.2382829999997 # Commanded vehicle depth:2001.569746 # Seafloor depth:-2080.808029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 316.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2070.633612 meters looking forward 200.000000 meters along route # Maximum depth: 2079.950946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.633612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978698; longitude = -129.096365; captureRadius = 10; duration = 101; initialDepth = 1995.633612; finalDepth = 1995.633612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.49404 # Actual altitude: 80.49404 # Commanded vehicle depth:1995.633612 # Seafloor depth:-2076.127652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 321.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2070.633612 meters looking forward 200.000000 meters along route # Maximum depth: 2075.563762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.633612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977799; longitude = -129.096886; captureRadius = 10; duration = 101; initialDepth = 1996.752949; finalDepth = 1995.633612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.49404 # Actual altitude: 80.49404 # Commanded vehicle depth:1995.633612 # Seafloor depth:-2071.241369 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 321.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2071.752949 meters looking forward 200.000000 meters along route # Maximum depth: 2079.129321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.752949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976948; longitude = -129.097379; captureRadius = 10; duration = 101; initialDepth = 2000.525983; finalDepth = 1996.752949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.311052 # Actual altitude: 78.311052 # Commanded vehicle depth:1996.752949 # Seafloor depth:-2075.064001 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 313.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2075.525983 meters looking forward 200.000000 meters along route # Maximum depth: 2082.282146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2000.525983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976090; longitude = -129.097877; captureRadius = 10; duration = 101; initialDepth = 2005.515715; finalDepth = 2000.525983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0948830000002 # Actual altitude: 79.0948830000002 # Commanded vehicle depth:2000.525983 # Seafloor depth:-2079.620866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2080.515715 meters looking forward 200.000000 meters along route # Maximum depth: 2082.494003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.515715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975190; longitude = -129.098398; captureRadius = 10; duration = 101; initialDepth = 2004.489777; finalDepth = 2005.515715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0948830000002 # Actual altitude: 79.0948830000002 # Commanded vehicle depth:2005.515715 # Seafloor depth:-2082.345741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2079.489777 meters looking forward 200.000000 meters along route # Maximum depth: 2082.494003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2004.489777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974291; longitude = -129.098919; captureRadius = 10; duration = 101; initialDepth = 2002.687489; finalDepth = 2004.489777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3779350000004 # Actual altitude: 77.3779350000004 # Commanded vehicle depth:2004.489777 # Seafloor depth:-2081.867712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2077.687489 meters looking forward 200.000000 meters along route # Maximum depth: 2081.401546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.687489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973392; longitude = -129.099441; captureRadius = 10; duration = 101; initialDepth = 2002.687489; finalDepth = 2002.687489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3779350000004 # Actual altitude: 77.3779350000004 # Commanded vehicle depth:2002.687489 # Seafloor depth:-2079.255924 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2077.687489 meters looking forward 200.000000 meters along route # Maximum depth: 2078.954791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.687489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972492; longitude = -129.099962; captureRadius = 10; duration = 101; initialDepth = 2002.961272; finalDepth = 2002.687489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5684350000001 # Actual altitude: 76.5684350000001 # Commanded vehicle depth:2002.687489 # Seafloor depth:-2077.863039 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 306.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2077.961272 meters looking forward 200.000000 meters along route # Maximum depth: 2079.643454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.961272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971638; longitude = -129.100457; captureRadius = 10; duration = 101; initialDepth = 2003.700897; finalDepth = 2002.961272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4195589999999 # Actual altitude: 75.4195589999999 # Commanded vehicle depth:2002.961272 # Seafloor depth:-2078.380831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 301.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2078.700897 meters looking forward 200.000000 meters along route # Maximum depth: 2081.155222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.700897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970783; longitude = -129.100953; captureRadius = 10; duration = 101; initialDepth = 2004.908557; finalDepth = 2003.700897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9394429999998 # Actual altitude: 75.9394429999998 # Commanded vehicle depth:2003.700897 # Seafloor depth:-2079.640340 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2079.908557 meters looking forward 200.000000 meters along route # Maximum depth: 2083.766114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2004.908557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969884; longitude = -129.101474; captureRadius = 10; duration = 101; initialDepth = 2006.909298; finalDepth = 2004.908557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4363519999997 # Actual altitude: 76.4363519999997 # Commanded vehicle depth:2004.908557 # Seafloor depth:-2081.344909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.909298 meters looking forward 200.000000 meters along route # Maximum depth: 2086.933370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.909298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968985; longitude = -129.101995; captureRadius = 10; duration = 101; initialDepth = 2010.402708; finalDepth = 2006.909298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3156330000002 # Actual altitude: 77.3156330000002 # Commanded vehicle depth:2006.909298 # Seafloor depth:-2084.224931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2085.402708 meters looking forward 200.000000 meters along route # Maximum depth: 2086.933370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.402708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968085; longitude = -129.102517; captureRadius = 10; duration = 101; initialDepth = 2011.126861; finalDepth = 2010.402708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3156330000002 # Actual altitude: 77.3156330000002 # Commanded vehicle depth:2010.402708 # Seafloor depth:-2086.492232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2086.126861 meters looking forward 200.000000 meters along route # Maximum depth: 2090.882951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.126861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.103038; captureRadius = 10; duration = 101; initialDepth = 2012.231809; finalDepth = 2011.126861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.089524 # Actual altitude: 76.089524 # Commanded vehicle depth:2011.126861 # Seafloor depth:-2086.871391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2087.231809 meters looking forward 200.000000 meters along route # Maximum depth: 2092.309216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.231809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966327; longitude = -129.103536; captureRadius = 10; duration = 101; initialDepth = 2011.678531; finalDepth = 2012.231809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.914957 # Actual altitude: 78.914957 # Commanded vehicle depth:2012.231809 # Seafloor depth:-2091.146766 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2086.678531 meters looking forward 200.000000 meters along route # Maximum depth: 2092.309216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.678531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965477; longitude = -129.104029; captureRadius = 10; duration = 101; initialDepth = 2009.513989; finalDepth = 2011.678531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3493109999999 # Actual altitude: 79.3493109999999 # Commanded vehicle depth:2011.678531 # Seafloor depth:-2091.027842 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 317.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2084.513989 meters looking forward 200.000000 meters along route # Maximum depth: 2090.267889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.513989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964577; longitude = -129.104550; captureRadius = 10; duration = 101; initialDepth = 2005.791858; finalDepth = 2009.513989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3493109999999 # Actual altitude: 79.3493109999999 # Commanded vehicle depth:2009.513989 # Seafloor depth:-2086.223249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 317.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 317.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2080.791858 meters looking forward 200.000000 meters along route # Maximum depth: 2085.571964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.791858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963678; longitude = -129.105071; captureRadius = 10; duration = 101; initialDepth = 2005.577310; finalDepth = 2005.791858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.462653 # Actual altitude: 78.462653 # Commanded vehicle depth:2005.791858 # Seafloor depth:-2084.254511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2080.577310 meters looking forward 200.000000 meters along route # Maximum depth: 2083.535526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.577310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.105593; captureRadius = 10; duration = 101; initialDepth = 2005.577310; finalDepth = 2005.577310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.462653 # Actual altitude: 78.462653 # Commanded vehicle depth:2005.57731 # Seafloor depth:-2080.686479 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 313.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2080.577310 meters looking forward 200.000000 meters along route # Maximum depth: 2084.218868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.577310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.106114; captureRadius = 10; duration = 101; initialDepth = 2006.920882; finalDepth = 2005.577310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0956859999997 # Actual altitude: 76.0956859999997 # Commanded vehicle depth:2005.57731 # Seafloor depth:-2081.672996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.22; MB_Bottom_Detect_Filter_Max_Range = 304.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.920882 meters looking forward 200.000000 meters along route # Maximum depth: 2084.248078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.920882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961017; longitude = -129.106614; captureRadius = 10; duration = 101; initialDepth = 2007.174262; finalDepth = 2006.920882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3271960000002 # Actual altitude: 77.3271960000002 # Commanded vehicle depth:2006.920882 # Seafloor depth:-2084.248078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2082.174262 meters looking forward 200.000000 meters along route # Maximum depth: 2084.114515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.174262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.107104; captureRadius = 10; duration = 101; initialDepth = 2006.506911; finalDepth = 2007.174262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3271960000002 # Actual altitude: 77.3271960000002 # Commanded vehicle depth:2007.174262 # Seafloor depth:-2083.561559 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.506911 meters looking forward 200.000000 meters along route # Maximum depth: 2083.124087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.506911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.107626; captureRadius = 10; duration = 101; initialDepth = 2006.030543; finalDepth = 2006.506911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3872970000002 # Actual altitude: 76.3872970000002 # Commanded vehicle depth:2006.506911 # Seafloor depth:-2082.149582 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 305.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.030543 meters looking forward 200.000000 meters along route # Maximum depth: 2082.197474 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.030543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958372; longitude = -129.108147; captureRadius = 10; duration = 101; initialDepth = 2006.030543; finalDepth = 2006.030543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6426710000001 # Actual altitude: 75.6426710000001 # Commanded vehicle depth:2006.030543 # Seafloor depth:-2081.552133 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 302.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.030543 meters looking forward 200.000000 meters along route # Maximum depth: 2082.605000 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.030543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.108669; captureRadius = 10; duration = 101; initialDepth = 2006.748980; finalDepth = 2006.030543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5215900000003 # Actual altitude: 75.5215900000003 # Commanded vehicle depth:2006.030543 # Seafloor depth:-2081.428888 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 302.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.748980 meters looking forward 200.000000 meters along route # Maximum depth: 2085.968223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.748980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.109190; captureRadius = 10; duration = 101; initialDepth = 2006.935515; finalDepth = 2006.748980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3983450000001 # Actual altitude: 75.3983450000001 # Commanded vehicle depth:2006.74898 # Seafloor depth:-2082.075456 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 301.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2081.935515 meters looking forward 200.000000 meters along route # Maximum depth: 2088.667618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.935515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955707; longitude = -129.109692; captureRadius = 10; duration = 101; initialDepth = 2005.515574; finalDepth = 2006.935515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.706001 # Actual altitude: 79.706001 # Commanded vehicle depth:2006.935515 # Seafloor depth:-2086.641516 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 318.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2080.515574 meters looking forward 200.000000 meters along route # Maximum depth: 2088.667618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.515574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954864; longitude = -129.110180; captureRadius = 10; duration = 101; initialDepth = 2005.515574; finalDepth = 2005.515574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9666579999998 # Actual altitude: 79.9666579999998 # Commanded vehicle depth:2005.515574 # Seafloor depth:-2085.482232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 319.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2080.515574 meters looking forward 200.000000 meters along route # Maximum depth: 2095.128747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.515574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953965; longitude = -129.110702; captureRadius = 10; duration = 101; initialDepth = 2012.867495; finalDepth = 2005.515574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9666579999998 # Actual altitude: 79.9666579999998 # Commanded vehicle depth:2005.515574 # Seafloor depth:-2084.737414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 319.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2087.867495 meters looking forward 200.000000 meters along route # Maximum depth: 2097.134023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.867495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953065; longitude = -129.111223; captureRadius = 10; duration = 101; initialDepth = 2017.752935; finalDepth = 2012.867495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8683070000002 # Actual altitude: 82.8683070000002 # Commanded vehicle depth:2012.867495 # Seafloor depth:-2095.735802 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.57; MB_Bottom_Detect_Filter_Max_Range = 331.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2092.752935 meters looking forward 200.000000 meters along route # Maximum depth: 2097.134023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.752935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952166; longitude = -129.111745; captureRadius = 10; duration = 101; initialDepth = 2017.752935; finalDepth = 2017.752935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8683070000002 # Actual altitude: 82.8683070000002 # Commanded vehicle depth:2017.752935 # Seafloor depth:-2095.311684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.57; MB_Bottom_Detect_Filter_Max_Range = 331.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2092.752935 meters looking forward 200.000000 meters along route # Maximum depth: 2099.252880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.752935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951266; longitude = -129.112266; captureRadius = 10; duration = 101; initialDepth = 2022.489360; finalDepth = 2017.752935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1523360000001 # Actual altitude: 79.1523360000001 # Commanded vehicle depth:2017.752935 # Seafloor depth:-2096.905271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2097.489360 meters looking forward 200.000000 meters along route # Maximum depth: 2099.568771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.489360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950396; longitude = -129.112770; captureRadius = 10; duration = 101; initialDepth = 2024.085096; finalDepth = 2022.489360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1523360000001 # Actual altitude: 79.1523360000001 # Commanded vehicle depth:2022.48936 # Seafloor depth:-2099.377691 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2099.085096 meters looking forward 200.000000 meters along route # Maximum depth: 2100.831522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.085096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949557; longitude = -129.113256; captureRadius = 10; duration = 101; initialDepth = 2023.441380; finalDepth = 2024.085096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8883310000001 # Actual altitude: 76.8883310000001 # Commanded vehicle depth:2024.085096 # Seafloor depth:-2099.749529 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2098.441380 meters looking forward 200.000000 meters along route # Maximum depth: 2100.831522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.441380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.113778; captureRadius = 10; duration = 101; initialDepth = 2021.530422; finalDepth = 2023.441380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8329829999998 # Actual altitude: 76.8329829999998 # Commanded vehicle depth:2023.44138 # Seafloor depth:-2100.274363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2096.530422 meters looking forward 200.000000 meters along route # Maximum depth: 2099.249493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.530422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947759; longitude = -129.114299; captureRadius = 10; duration = 101; initialDepth = 2021.530422; finalDepth = 2021.530422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8329829999998 # Actual altitude: 76.8329829999998 # Commanded vehicle depth:2021.530422 # Seafloor depth:-2098.177551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2096.530422 meters looking forward 200.000000 meters along route # Maximum depth: 2098.902150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.530422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.114821; captureRadius = 10; duration = 101; initialDepth = 2023.227693; finalDepth = 2021.530422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6471290000004 # Actual altitude: 76.6471290000004 # Commanded vehicle depth:2021.530422 # Seafloor depth:-2097.742036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2098.227693 meters looking forward 200.000000 meters along route # Maximum depth: 2101.352745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.227693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945960; longitude = -129.115342; captureRadius = 10; duration = 101; initialDepth = 2022.145594; finalDepth = 2023.227693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2116140000003 # Actual altitude: 76.2116140000003 # Commanded vehicle depth:2023.227693 # Seafloor depth:-2098.328157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 304.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2097.145594 meters looking forward 200.000000 meters along route # Maximum depth: 2101.363222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.145594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945060; longitude = -129.115863; captureRadius = 10; duration = 101; initialDepth = 2021.765200; finalDepth = 2022.145594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2176279999999 # Actual altitude: 79.2176279999999 # Commanded vehicle depth:2022.145594 # Seafloor depth:-2101.363222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 316.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2096.765200 meters looking forward 200.000000 meters along route # Maximum depth: 2101.023318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.765200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944161; longitude = -129.116385; captureRadius = 10; duration = 101; initialDepth = 2021.765200; finalDepth = 2021.765200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2176279999999 # Actual altitude: 79.2176279999999 # Commanded vehicle depth:2021.7652 # Seafloor depth:-2097.139449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 316.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.015125 meters # Minimum depth: 2096.765200 meters looking forward 200.000000 meters along route # Maximum depth: 2100.527780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.765200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943239; longitude = -129.116919; captureRadius = 10; duration = 101; initialDepth = 2018.671667; finalDepth = 2021.765200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4272270000001 # Actual altitude: 76.4272270000001 # Commanded vehicle depth:2021.7652 # Seafloor depth:-2098.192427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 305.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.71; 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 12 # Segment length 101.015125 meters # Minimum depth: 2093.671667 meters looking forward 200.000000 meters along route # Maximum depth: 2100.527780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.671667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942392; longitude = -129.117410; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 1984.925492; finalDepth = 2018.671667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7791389999998 # Actual altitude: 81.7791389999998 # Commanded vehicle depth:2018.671667 # Seafloor depth:-2100.450806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.12; MB_Rate = 2; MB_Gain = 75; 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 12 # Segment length 101.015125 meters # Minimum depth: 2059.925492 meters looking forward 200.000000 meters along route # Maximum depth: 2100.527780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1984.925492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942130; longitude = -129.116518; captureRadius = 10; duration = 101; initialDepth = 1984.925492; finalDepth = 1984.925492; 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: 101.885228 # Actual altitude: 100 # Commanded vehicle depth:1984.925492 # Seafloor depth:-2086.810720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 11 # Segment length 101.015125 meters # Minimum depth: 2059.925492 meters looking forward 200.000000 meters along route # Maximum depth: 2094.640671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1984.925492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941763; longitude = -129.115268; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2009.589134; finalDepth = 1984.925492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.240035 # Actual altitude: 100 # Commanded vehicle depth:1984.925492 # Seafloor depth:-2093.165527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 11 # Segment length 101.015125 meters # Minimum depth: 2090.020156 meters looking forward 200.000000 meters along route # Maximum depth: 2093.165527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.589134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942452; longitude = -129.114868; captureRadius = 10; duration = 101; initialDepth = 2015.389287; finalDepth = 2009.589134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.240035 # Actual altitude: 100 # Commanded vehicle depth:2009.589134 # Seafloor depth:-2090.020156 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 11 # Segment length 101.015125 meters # Minimum depth: 2090.389287 meters looking forward 200.000000 meters along route # Maximum depth: 2094.124544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.389287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943352; longitude = -129.114346; captureRadius = 10; duration = 101; initialDepth = 2016.737174; finalDepth = 2015.389287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4310220000002 # Actual altitude: 80.4310220000002 # Commanded vehicle depth:2015.389287 # Seafloor depth:-2093.291377 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 321.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2091.737174 meters looking forward 200.000000 meters along route # Maximum depth: 2094.124544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.737174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944222; longitude = -129.113841; captureRadius = 10; duration = 101; initialDepth = 2016.199852; finalDepth = 2016.737174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.90209 # Actual altitude: 77.90209 # Commanded vehicle depth:2016.737174 # Seafloor depth:-2092.027474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2091.199852 meters looking forward 200.000000 meters along route # Maximum depth: 2092.780371 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.199852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945060; longitude = -129.113354; captureRadius = 10; duration = 101; initialDepth = 2016.199852; finalDepth = 2016.199852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5805189999996 # Actual altitude: 76.5805189999996 # Commanded vehicle depth:2016.199852 # Seafloor depth:-2092.780371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2091.199852 meters looking forward 200.000000 meters along route # Maximum depth: 2095.728782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.199852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945960; longitude = -129.112832; captureRadius = 10; duration = 101; initialDepth = 2017.946708; finalDepth = 2016.199852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5805189999996 # Actual altitude: 76.5805189999996 # Commanded vehicle depth:2016.199852 # Seafloor depth:-2092.092070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2092.946708 meters looking forward 200.000000 meters along route # Maximum depth: 2096.265711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.946708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.112310; captureRadius = 10; duration = 101; initialDepth = 2020.460478; finalDepth = 2017.946708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0666270000002 # Actual altitude: 78.0666270000002 # Commanded vehicle depth:2017.946708 # Seafloor depth:-2096.013335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2095.460478 meters looking forward 200.000000 meters along route # Maximum depth: 2096.265711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.460478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947759; longitude = -129.111788; captureRadius = 10; duration = 101; initialDepth = 2019.792884; finalDepth = 2020.460478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0666270000002 # Actual altitude: 78.0666270000002 # Commanded vehicle depth:2020.460478 # Seafloor depth:-2095.689257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2094.792884 meters looking forward 200.000000 meters along route # Maximum depth: 2096.012540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.792884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.111266; captureRadius = 10; duration = 101; initialDepth = 2015.805797; finalDepth = 2019.792884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.518658 # Actual altitude: 75.518658 # Commanded vehicle depth:2019.792884 # Seafloor depth:-2095.311542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 302.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2090.805797 meters looking forward 200.000000 meters along route # Maximum depth: 2096.012540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.805797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949526; longitude = -129.110763; captureRadius = 10; duration = 101; initialDepth = 2013.997166; finalDepth = 2015.805797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0240779999999 # Actual altitude: 80.0240779999999 # Commanded vehicle depth:2015.805797 # Seafloor depth:-2095.829875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 320.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2088.997166 meters looking forward 200.000000 meters along route # Maximum depth: 2095.310581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.997166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950367; longitude = -129.110274; captureRadius = 10; duration = 101; initialDepth = 2007.532133; finalDepth = 2013.997166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0240779999999 # Actual altitude: 80.0240779999999 # Commanded vehicle depth:2013.997166 # Seafloor depth:-2090.628440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 320.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2082.532133 meters looking forward 200.000000 meters along route # Maximum depth: 2090.672066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.532133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951266; longitude = -129.109752; captureRadius = 10; duration = 101; initialDepth = 2001.431390; finalDepth = 2007.532133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9460749999998 # Actual altitude: 80.9460749999998 # Commanded vehicle depth:2007.532133 # Seafloor depth:-2088.478208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 323.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2076.431390 meters looking forward 200.000000 meters along route # Maximum depth: 2087.218533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.431390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952166; longitude = -129.109230; captureRadius = 10; duration = 101; initialDepth = 2000.226416; finalDepth = 2001.431390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9460749999998 # Actual altitude: 80.9460749999998 # Commanded vehicle depth:2001.43139 # Seafloor depth:-2081.941241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 323.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2075.226416 meters looking forward 200.000000 meters along route # Maximum depth: 2081.107989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2000.226416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953065; longitude = -129.108708; captureRadius = 10; duration = 101; initialDepth = 1997.346212; finalDepth = 2000.226416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5098509999998 # Actual altitude: 80.5098509999998 # Commanded vehicle depth:2000.226416 # Seafloor depth:-2076.119253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 322.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2072.346212 meters looking forward 200.000000 meters along route # Maximum depth: 2076.325333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.346212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953965; longitude = -129.108186; captureRadius = 10; duration = 101; initialDepth = 1997.293668; finalDepth = 1997.346212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7205549999999 # Actual altitude: 78.7205549999999 # Commanded vehicle depth:1997.346212 # Seafloor depth:-2076.066767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 314.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2072.293668 meters looking forward 200.000000 meters along route # Maximum depth: 2075.528927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.293668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954829; longitude = -129.107684; captureRadius = 10; duration = 101; initialDepth = 1997.406137; finalDepth = 1997.293668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7205549999999 # Actual altitude: 78.7205549999999 # Commanded vehicle depth:1997.293668 # Seafloor depth:-2072.305942 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 314.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2072.406137 meters looking forward 200.000000 meters along route # Maximum depth: 2076.672737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.406137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.107195; captureRadius = 10; duration = 101; initialDepth = 2000.235758; finalDepth = 1997.406137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1883659999999 # Actual altitude: 77.1883659999999 # Commanded vehicle depth:1997.406137 # Seafloor depth:-2074.594503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2075.235758 meters looking forward 200.000000 meters along route # Maximum depth: 2077.828321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2000.235758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.106673; captureRadius = 10; duration = 101; initialDepth = 2001.267661; finalDepth = 2000.235758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1883659999999 # Actual altitude: 77.1883659999999 # Commanded vehicle depth:2000.235758 # Seafloor depth:-2076.425861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2076.267661 meters looking forward 200.000000 meters along route # Maximum depth: 2077.897853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.267661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.106151; captureRadius = 10; duration = 101; initialDepth = 2001.961802; finalDepth = 2001.267661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6301920000001 # Actual altitude: 76.6301920000001 # Commanded vehicle depth:2001.267661 # Seafloor depth:-2077.897853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2076.961802 meters looking forward 200.000000 meters along route # Maximum depth: 2078.155358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.961802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958372; longitude = -129.105629; captureRadius = 10; duration = 101; initialDepth = 1998.034480; finalDepth = 2001.961802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6301920000001 # Actual altitude: 76.6301920000001 # Commanded vehicle depth:2001.961802 # Seafloor depth:-2077.147820 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2073.034480 meters looking forward 200.000000 meters along route # Maximum depth: 2078.155358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.034480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.105107; captureRadius = 10; duration = 101; initialDepth = 1995.541295; finalDepth = 1998.034480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.6998750000002 # Actual altitude: 78.6998750000002 # Commanded vehicle depth:1998.03448 # Seafloor depth:-2076.734355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 314.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2070.541295 meters looking forward 200.000000 meters along route # Maximum depth: 2075.999330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.541295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960133; longitude = -129.104606; captureRadius = 10; duration = 101; initialDepth = 1993.310131; finalDepth = 1995.541295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.6998750000002 # Actual altitude: 78.6998750000002 # Commanded vehicle depth:1995.541295 # Seafloor depth:-2072.974378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 314.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2068.310131 meters looking forward 200.000000 meters along route # Maximum depth: 2072.887291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.310131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960980; longitude = -129.104115; captureRadius = 10; duration = 101; initialDepth = 1992.150344; finalDepth = 1993.310131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4330829999999 # Actual altitude: 77.4330829999999 # Commanded vehicle depth:1993.310131 # Seafloor depth:-2070.232147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 309.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2067.150344 meters looking forward 200.000000 meters along route # Maximum depth: 2069.648787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.150344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.103593; captureRadius = 10; duration = 101; initialDepth = 1992.150344; finalDepth = 1992.150344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.922016 # Actual altitude: 76.922016 # Commanded vehicle depth:1992.150344 # Seafloor depth:-2068.090061 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2067.150344 meters looking forward 200.000000 meters along route # Maximum depth: 2071.658344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.150344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.103071; captureRadius = 10; duration = 101; initialDepth = 1993.686254; finalDepth = 1992.150344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9397169999997 # Actual altitude: 75.9397169999997 # Commanded vehicle depth:1992.150344 # Seafloor depth:-2067.971135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2068.686254 meters looking forward 200.000000 meters along route # Maximum depth: 2073.517940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.686254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963678; longitude = -129.102549; captureRadius = 10; duration = 101; initialDepth = 1997.195547; finalDepth = 1993.686254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2116499999997 # Actual altitude: 78.2116499999997 # Commanded vehicle depth:1993.686254 # Seafloor depth:-2071.897904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2072.195547 meters looking forward 200.000000 meters along route # Maximum depth: 2074.258317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.195547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964577; longitude = -129.102027; captureRadius = 10; duration = 101; initialDepth = 1994.104617; finalDepth = 1997.195547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2116499999997 # Actual altitude: 78.2116499999997 # Commanded vehicle depth:1997.195547 # Seafloor depth:-2073.589824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2069.104617 meters looking forward 200.000000 meters along route # Maximum depth: 2074.258317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.104617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965437; longitude = -129.101528; captureRadius = 10; duration = 101; initialDepth = 1990.490031; finalDepth = 1994.104617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7565020000002 # Actual altitude: 78.7565020000002 # Commanded vehicle depth:1994.104617 # Seafloor depth:-2072.861119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2065.490031 meters looking forward 200.000000 meters along route # Maximum depth: 2072.110146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.490031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.101035; captureRadius = 10; duration = 101; initialDepth = 1990.490031; finalDepth = 1990.490031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7565020000002 # Actual altitude: 78.7565020000002 # Commanded vehicle depth:1990.490031 # Seafloor depth:-2068.595353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2065.490031 meters looking forward 200.000000 meters along route # Maximum depth: 2070.458368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.490031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.100513; captureRadius = 10; duration = 101; initialDepth = 1991.601948; finalDepth = 1990.490031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1053220000003 # Actual altitude: 78.1053220000003 # Commanded vehicle depth:1990.490031 # Seafloor depth:-2065.653082 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2066.601948 meters looking forward 200.000000 meters along route # Maximum depth: 2073.461343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.601948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968085; longitude = -129.099991; captureRadius = 10; duration = 101; initialDepth = 1996.663568; finalDepth = 1991.601948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2233540000002 # Actual altitude: 79.2233540000002 # Commanded vehicle depth:1991.601948 # Seafloor depth:-2070.825302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 316.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2071.663568 meters looking forward 200.000000 meters along route # Maximum depth: 2074.320447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.663568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968985; longitude = -129.099469; captureRadius = 10; duration = 101; initialDepth = 1996.895660; finalDepth = 1996.663568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2233540000002 # Actual altitude: 79.2233540000002 # Commanded vehicle depth:1996.663568 # Seafloor depth:-2073.533613 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 316.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2071.895660 meters looking forward 200.000000 meters along route # Maximum depth: 2074.320447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.895660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969884; longitude = -129.098947; captureRadius = 10; duration = 101; initialDepth = 1996.865559; finalDepth = 1996.895660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8700450000001 # Actual altitude: 76.8700450000001 # Commanded vehicle depth:1996.89566 # Seafloor depth:-2073.743286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2071.865559 meters looking forward 200.000000 meters along route # Maximum depth: 2073.605022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.865559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970741; longitude = -129.098450; captureRadius = 10; duration = 101; initialDepth = 1995.994570; finalDepth = 1996.865559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8476259999998 # Actual altitude: 76.8476259999998 # Commanded vehicle depth:1996.865559 # Seafloor depth:-2071.872329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.39; MB_Rate = 2; MB_Gain = 75; 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 11 # Segment length 101.015125 meters # Minimum depth: 2070.994570 meters looking forward 200.000000 meters along route # Maximum depth: 2073.017938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.994570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971593; longitude = -129.097955; captureRadius = 10; duration = 101; initialDepth = 1994.494763; finalDepth = 1995.994570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9908530000002 # Actual altitude: 76.9908530000002 # Commanded vehicle depth:1995.99457 # Seafloor depth:-2072.985423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 307.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2069.494763 meters looking forward 200.000000 meters along route # Maximum depth: 2073.017938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.494763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972492; longitude = -129.097433; captureRadius = 10; duration = 101; initialDepth = 1994.494763; finalDepth = 1994.494763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9908530000002 # Actual altitude: 76.9908530000002 # Commanded vehicle depth:1994.494763 # Seafloor depth:-2070.563731 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 307.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2069.494763 meters looking forward 200.000000 meters along route # Maximum depth: 2072.197761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.494763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973392; longitude = -129.096911; captureRadius = 10; duration = 101; initialDepth = 1995.251184; finalDepth = 1994.494763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.068968 # Actual altitude: 76.068968 # Commanded vehicle depth:1994.494763 # Seafloor depth:-2070.000764 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 304.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2070.251184 meters looking forward 200.000000 meters along route # Maximum depth: 2075.990016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.251184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974291; longitude = -129.096389; captureRadius = 10; duration = 101; initialDepth = 1994.998713; finalDepth = 1995.251184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5809339999996 # Actual altitude: 77.5809339999996 # Commanded vehicle depth:1995.251184 # Seafloor depth:-2072.832118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 310.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 310.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2069.998713 meters looking forward 200.000000 meters along route # Maximum depth: 2076.145470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.998713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975190; longitude = -129.095867; captureRadius = 10; duration = 101; initialDepth = 1991.358648; finalDepth = 1994.998713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0953079999999 # Actual altitude: 81.0953079999999 # Commanded vehicle depth:1994.998713 # Seafloor depth:-2076.094021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 324.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2066.358648 meters looking forward 200.000000 meters along route # Maximum depth: 2076.035277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.358648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976090; longitude = -129.095345; captureRadius = 10; duration = 101; initialDepth = 1990.522365; finalDepth = 1991.358648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0953079999999 # Actual altitude: 81.0953079999999 # Commanded vehicle depth:1991.358648 # Seafloor depth:-2069.409817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 324.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2065.522365 meters looking forward 200.000000 meters along route # Maximum depth: 2067.392282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.522365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976989; longitude = -129.094823; captureRadius = 10; duration = 101; initialDepth = 1990.522365; finalDepth = 1990.522365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0511690000003 # Actual altitude: 78.0511690000003 # Commanded vehicle depth:1990.522365 # Seafloor depth:-2066.597708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2065.522365 meters looking forward 200.000000 meters along route # Maximum depth: 2070.436324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.522365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977889; longitude = -129.094301; captureRadius = 10; duration = 101; initialDepth = 1993.479121; finalDepth = 1990.522365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8738680000001 # Actual altitude: 76.8738680000001 # Commanded vehicle depth:1990.522365 # Seafloor depth:-2067.396233 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.015125 meters # Minimum depth: 2068.479121 meters looking forward 200.000000 meters along route # Maximum depth: 2073.065818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.479121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978812; longitude = -129.093766; captureRadius = 10; duration = 101; initialDepth = 1993.961407; finalDepth = 1993.479121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.065008 # Actual altitude: 77.065008 # Commanded vehicle depth:1993.479121 # Seafloor depth:-2070.544129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.26; 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 10 # Segment length 101.015125 meters # Minimum depth: 2068.961407 meters looking forward 200.000000 meters along route # Maximum depth: 2073.099426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.961407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979657; longitude = -129.093275; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 1993.356285; finalDepth = 1993.961407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1380190000004 # Actual altitude: 79.1380190000004 # Commanded vehicle depth:1993.961407 # Seafloor depth:-2073.099426 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.015125 meters # Minimum depth: 2068.356285 meters looking forward 200.000000 meters along route # Maximum depth: 2085.472726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.356285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979408; longitude = -129.092427; captureRadius = 10; duration = 101; initialDepth = 1993.356285; finalDepth = 1993.356285; 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: 79.1380190000004 # Actual altitude: 79.1380190000004 # Commanded vehicle depth:1993.356285 # Seafloor depth:-2068.542142 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 101.015125 meters # Minimum depth: 2068.356285 meters looking forward 200.000000 meters along route # Maximum depth: 2090.720774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.356285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979028; longitude = -129.091133; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2010.472726; finalDepth = 1993.356285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.8386610000002 # Actual altitude: 93.8386610000002 # Commanded vehicle depth:1993.356285 # Seafloor depth:-2087.194946 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.77; 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 9 # Segment length 101.015125 meters # Minimum depth: 2085.472726 meters looking forward 200.000000 meters along route # Maximum depth: 2092.382016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.472726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978338; longitude = -129.091537; captureRadius = 10; duration = 101; initialDepth = 2015.822635; finalDepth = 2010.472726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.8386610000002 # Actual altitude: 93.8386610000002 # Commanded vehicle depth:2010.472726 # Seafloor depth:-2091.023909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.77; 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 9 # Segment length 101.015125 meters # Minimum depth: 2090.822635 meters looking forward 200.000000 meters along route # Maximum depth: 2092.976509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.822635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977439; longitude = -129.092064; captureRadius = 10; duration = 101; initialDepth = 2011.863150; finalDepth = 2015.822635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.551183 # Actual altitude: 80.551183 # Commanded vehicle depth:2015.822635 # Seafloor depth:-2092.664790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 322.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2086.863150 meters looking forward 200.000000 meters along route # Maximum depth: 2092.976509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.863150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976540; longitude = -129.092591; captureRadius = 10; duration = 101; initialDepth = 2011.863150; finalDepth = 2011.863150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9123519999998 # Actual altitude: 78.9123519999998 # Commanded vehicle depth:2011.86315 # Seafloor depth:-2090.775502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2086.863150 meters looking forward 200.000000 meters along route # Maximum depth: 2090.611669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.863150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975678; longitude = -129.093096; captureRadius = 10; duration = 101; initialDepth = 2011.286639; finalDepth = 2011.863150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9123519999998 # Actual altitude: 78.9123519999998 # Commanded vehicle depth:2011.86315 # Seafloor depth:-2086.889714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2086.286639 meters looking forward 200.000000 meters along route # Maximum depth: 2090.153798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.286639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974831; longitude = -129.093593; captureRadius = 10; duration = 101; initialDepth = 2007.805018; finalDepth = 2011.286639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8328489999999 # Actual altitude: 78.8328489999999 # Commanded vehicle depth:2011.286639 # Seafloor depth:-2090.119488 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2082.805018 meters looking forward 200.000000 meters along route # Maximum depth: 2090.049536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.805018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973931; longitude = -129.094120; captureRadius = 10; duration = 101; initialDepth = 2005.788379; finalDepth = 2007.805018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8328489999999 # Actual altitude: 78.8328489999999 # Commanded vehicle depth:2007.805018 # Seafloor depth:-2085.614981 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.77; MB_Bottom_Detect_Filter_Max_Range = 315.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2080.788379 meters looking forward 200.000000 meters along route # Maximum depth: 2084.770623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.788379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973032; longitude = -129.094647; captureRadius = 10; duration = 101; initialDepth = 2005.439309; finalDepth = 2005.788379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8099630000002 # Actual altitude: 77.8099630000002 # Commanded vehicle depth:2005.788379 # Seafloor depth:-2082.712208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.56; MB_Bottom_Detect_Filter_Max_Range = 311.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2080.439309 meters looking forward 200.000000 meters along route # Maximum depth: 2082.467275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.439309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972132; longitude = -129.095174; captureRadius = 10; duration = 101; initialDepth = 2003.282352; finalDepth = 2005.439309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9238289999998 # Actual altitude: 76.9238289999998 # Commanded vehicle depth:2005.439309 # Seafloor depth:-2080.603894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2078.282352 meters looking forward 200.000000 meters along route # Maximum depth: 2080.878418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.282352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971233; longitude = -129.095701; captureRadius = 10; duration = 101; initialDepth = 2000.970393; finalDepth = 2003.282352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7913529999996 # Actual altitude: 76.7913529999996 # Commanded vehicle depth:2003.282352 # Seafloor depth:-2080.073705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.17; MB_Rate = 2; MB_Gain = 75; 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 9 # Segment length 101.015125 meters # Minimum depth: 2075.970393 meters looking forward 200.000000 meters along route # Maximum depth: 2079.416260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2000.970393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970334; longitude = -129.096229; captureRadius = 10; duration = 101; initialDepth = 1997.215444; finalDepth = 2000.970393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9430809999999 # Actual altitude: 76.9430809999999 # Commanded vehicle depth:2000.970393 # Seafloor depth:-2077.913474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 307.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2072.215444 meters looking forward 200.000000 meters along route # Maximum depth: 2077.403507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.215444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969434; longitude = -129.096756; captureRadius = 10; duration = 101; initialDepth = 1992.679619; finalDepth = 1997.215444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5947770000002 # Actual altitude: 78.5947770000002 # Commanded vehicle depth:1997.215444 # Seafloor depth:-2075.810221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2067.679619 meters looking forward 200.000000 meters along route # Maximum depth: 2075.446097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.679619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968535; longitude = -129.097283; captureRadius = 10; duration = 101; initialDepth = 1989.174228; finalDepth = 1992.679619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.11438 # Actual altitude: 79.11438 # Commanded vehicle depth:1992.679619 # Seafloor depth:-2071.793999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2064.174228 meters looking forward 200.000000 meters along route # Maximum depth: 2071.091817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1989.174228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967635; longitude = -129.097810; captureRadius = 10; duration = 101; initialDepth = 1987.656838; finalDepth = 1989.174228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.11438 # Actual altitude: 79.11438 # Commanded vehicle depth:1989.174228 # Seafloor depth:-2067.401909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2062.656838 meters looking forward 200.000000 meters along route # Maximum depth: 2066.795946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1987.656838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966772; longitude = -129.098316; captureRadius = 10; duration = 101; initialDepth = 1987.656838; finalDepth = 1987.656838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2276810000003 # Actual altitude: 78.2276810000003 # Commanded vehicle depth:1987.656838 # Seafloor depth:-2063.991463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 312.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2062.656838 meters looking forward 200.000000 meters along route # Maximum depth: 2067.206140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1987.656838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965927; longitude = -129.098811; captureRadius = 10; duration = 101; initialDepth = 1990.238705; finalDepth = 1987.656838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.334625 # Actual altitude: 76.334625 # Commanded vehicle depth:1987.656838 # Seafloor depth:-2063.760268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2065.238705 meters looking forward 200.000000 meters along route # Maximum depth: 2068.347137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.238705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965027; longitude = -129.099339; captureRadius = 10; duration = 101; initialDepth = 1992.102835; finalDepth = 1990.238705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0674249999997 # Actual altitude: 77.0674249999997 # Commanded vehicle depth:1990.238705 # Seafloor depth:-2067.306130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2067.102835 meters looking forward 200.000000 meters along route # Maximum depth: 2070.172981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.102835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964128; longitude = -129.099866; captureRadius = 10; duration = 101; initialDepth = 1994.031679; finalDepth = 1992.102835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0674249999997 # Actual altitude: 77.0674249999997 # Commanded vehicle depth:1992.102835 # Seafloor depth:-2068.698160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 308.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2069.031679 meters looking forward 200.000000 meters along route # Maximum depth: 2070.423545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1994.031679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963228; longitude = -129.100393; captureRadius = 10; duration = 101; initialDepth = 1995.056344; finalDepth = 1994.031679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5953249999998 # Actual altitude: 76.5953249999998 # Commanded vehicle depth:1994.031679 # Seafloor depth:-2070.343365 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 306.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2070.056344 meters looking forward 200.000000 meters along route # Maximum depth: 2070.954147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.056344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962329; longitude = -129.100920; captureRadius = 10; duration = 101; initialDepth = 1995.377564; finalDepth = 1995.056344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.311686 # Actual altitude: 76.311686 # Commanded vehicle depth:1995.056344 # Seafloor depth:-2070.255642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2070.377564 meters looking forward 200.000000 meters along route # Maximum depth: 2071.585490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.377564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961430; longitude = -129.101447; captureRadius = 10; duration = 101; initialDepth = 1989.970609; finalDepth = 1995.377564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7804970000002 # Actual altitude: 75.7804970000002 # Commanded vehicle depth:1995.377564 # Seafloor depth:-2071.158061 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.12; MB_Rate = 2; MB_Gain = 75; 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 9 # Segment length 101.015125 meters # Minimum depth: 2064.970609 meters looking forward 200.000000 meters along route # Maximum depth: 2071.585490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1989.970609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.101974; captureRadius = 10; duration = 101; initialDepth = 1988.268217; finalDepth = 1989.970609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2987590000002 # Actual altitude: 80.2987590000002 # Commanded vehicle depth:1989.970609 # Seafloor depth:-2070.269368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 321.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2063.268217 meters looking forward 200.000000 meters along route # Maximum depth: 2069.140021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1988.268217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959631; longitude = -129.102501; captureRadius = 10; duration = 101; initialDepth = 1988.268217; finalDepth = 1988.268217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2987590000002 # Actual altitude: 80.2987590000002 # Commanded vehicle depth:1988.268217 # Seafloor depth:-2064.795209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 321.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2063.268217 meters looking forward 200.000000 meters along route # Maximum depth: 2075.056775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1988.268217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.103028; captureRadius = 10; duration = 101; initialDepth = 1992.716165; finalDepth = 1988.268217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.418901 # Actual altitude: 78.418901 # Commanded vehicle depth:1988.268217 # Seafloor depth:-2066.687118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 313.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2067.716165 meters looking forward 200.000000 meters along route # Maximum depth: 2078.203574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.716165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957866; longitude = -129.103536; captureRadius = 10; duration = 101; initialDepth = 2001.111033; finalDepth = 1992.716165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.681102 # Actual altitude: 82.681102 # Commanded vehicle depth:1992.716165 # Seafloor depth:-2075.397267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 330.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2076.111033 meters looking forward 200.000000 meters along route # Maximum depth: 2078.800545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.111033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957022; longitude = -129.104030; captureRadius = 10; duration = 101; initialDepth = 1991.624316; finalDepth = 2001.111033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.681102 # Actual altitude: 82.681102 # Commanded vehicle depth:2001.111033 # Seafloor depth:-2078.483604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 330.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2066.624316 meters looking forward 200.000000 meters along route # Maximum depth: 2078.800545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.624316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956123; longitude = -129.104557; captureRadius = 10; duration = 101; initialDepth = 1988.061724; finalDepth = 1991.624316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.145379 # Actual altitude: 85.145379 # Commanded vehicle depth:1991.624316 # Seafloor depth:-2076.769695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 340.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2063.061724 meters looking forward 200.000000 meters along route # Maximum depth: 2075.551385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1988.061724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955224; longitude = -129.105084; captureRadius = 10; duration = 101; initialDepth = 1988.061724; finalDepth = 1988.061724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.145379 # Actual altitude: 85.145379 # Commanded vehicle depth:1988.061724 # Seafloor depth:-2065.539486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 340.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2063.061724 meters looking forward 200.000000 meters along route # Maximum depth: 2070.933216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1988.061724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954324; longitude = -129.105611; captureRadius = 10; duration = 101; initialDepth = 1989.552017; finalDepth = 1988.061724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.477762 # Actual altitude: 77.477762 # Commanded vehicle depth:1988.061724 # Seafloor depth:-2063.604533 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 309.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2064.552017 meters looking forward 200.000000 meters along route # Maximum depth: 2079.691518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1989.552017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953425; longitude = -129.106138; captureRadius = 10; duration = 101; initialDepth = 1998.010253; finalDepth = 1989.552017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2650469999999 # Actual altitude: 82.2650469999999 # Commanded vehicle depth:1989.552017 # Seafloor depth:-2071.817064 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 329.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2073.010253 meters looking forward 200.000000 meters along route # Maximum depth: 2080.913623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.010253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952525; longitude = -129.106665; captureRadius = 10; duration = 101; initialDepth = 2005.660346; finalDepth = 1998.010253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2650469999999 # Actual altitude: 82.2650469999999 # Commanded vehicle depth:1998.010253 # Seafloor depth:-2080.231921 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 329.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2080.660346 meters looking forward 200.000000 meters along route # Maximum depth: 2084.008793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.660346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951626; longitude = -129.107193; captureRadius = 10; duration = 101; initialDepth = 2006.387600; finalDepth = 2005.660346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2216680000001 # Actual altitude: 82.2216680000001 # Commanded vehicle depth:2005.660346 # Seafloor depth:-2080.948704 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 328.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2081.387600 meters looking forward 200.000000 meters along route # Maximum depth: 2088.170397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.387600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950727; longitude = -129.107720; captureRadius = 10; duration = 101; initialDepth = 2009.591301; finalDepth = 2006.387600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8388070000001 # Actual altitude: 77.8388070000001 # Commanded vehicle depth:2006.3876 # Seafloor depth:-2084.226407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.57; MB_Bottom_Detect_Filter_Max_Range = 311.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2084.591301 meters looking forward 200.000000 meters along route # Maximum depth: 2091.626849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.591301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949827; longitude = -129.108247; captureRadius = 10; duration = 101; initialDepth = 2014.337823; finalDepth = 2009.591301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9774259999999 # Actual altitude: 78.9774259999999 # Commanded vehicle depth:2009.591301 # Seafloor depth:-2088.568727 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 315.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2089.337823 meters looking forward 200.000000 meters along route # Maximum depth: 2093.014815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2014.337823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948960; longitude = -129.108755; captureRadius = 10; duration = 101; initialDepth = 2013.666119; finalDepth = 2014.337823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9774259999999 # Actual altitude: 78.9774259999999 # Commanded vehicle depth:2014.337823 # Seafloor depth:-2091.805021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 315.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2088.666119 meters looking forward 200.000000 meters along route # Maximum depth: 2093.014815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.666119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.109248; captureRadius = 10; duration = 101; initialDepth = 2013.506547; finalDepth = 2013.666119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7399989999999 # Actual altitude: 78.7399989999999 # Commanded vehicle depth:2013.666119 # Seafloor depth:-2092.406118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 314.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2088.506547 meters looking forward 200.000000 meters along route # Maximum depth: 2092.055799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.506547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.109775; captureRadius = 10; duration = 101; initialDepth = 2013.833551; finalDepth = 2013.506547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7399989999999 # Actual altitude: 78.7399989999999 # Commanded vehicle depth:2013.506547 # Seafloor depth:-2088.506547 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 314.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 314.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2088.833551 meters looking forward 200.000000 meters along route # Maximum depth: 2091.830829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.833551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946320; longitude = -129.110303; captureRadius = 10; duration = 101; initialDepth = 2013.245619; finalDepth = 2013.833551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.915829 # Actual altitude: 77.915829 # Commanded vehicle depth:2013.833551 # Seafloor depth:-2091.749380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2088.245619 meters looking forward 200.000000 meters along route # Maximum depth: 2091.412050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.245619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945420; longitude = -129.110830; captureRadius = 10; duration = 101; initialDepth = 2012.301825; finalDepth = 2013.245619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.915829 # Actual altitude: 77.915829 # Commanded vehicle depth:2013.245619 # Seafloor depth:-2089.064760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 311.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2087.301825 meters looking forward 200.000000 meters along route # Maximum depth: 2088.960571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.301825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944521; longitude = -129.111357; captureRadius = 10; duration = 101; initialDepth = 2011.800186; finalDepth = 2012.301825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8191410000004 # Actual altitude: 75.8191410000004 # Commanded vehicle depth:2012.301825 # Seafloor depth:-2087.850646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 303.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 303.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2086.800186 meters looking forward 200.000000 meters along route # Maximum depth: 2087.617032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.800186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943621; longitude = -129.111884; captureRadius = 10; duration = 101; initialDepth = 2010.210603; finalDepth = 2011.800186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5488209999999 # Actual altitude: 75.5488209999999 # Commanded vehicle depth:2011.800186 # Seafloor depth:-2087.143933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 302.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2085.210603 meters looking forward 200.000000 meters along route # Maximum depth: 2087.453713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.210603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.112411; captureRadius = 10; duration = 101; initialDepth = 2010.210603; finalDepth = 2010.210603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4889579999999 # Actual altitude: 76.4889579999999 # Commanded vehicle depth:2010.210603 # Seafloor depth:-2086.699561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 305.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.015125 meters # Minimum depth: 2085.210603 meters looking forward 200.000000 meters along route # Maximum depth: 2088.140971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.210603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941881; longitude = -129.112904; captureRadius = 10; duration = 101; initialDepth = 2010.210603; finalDepth = 2010.210603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.4889579999999 # Actual altitude: 76.4889579999999 # Commanded vehicle depth:2010.210603 # Seafloor depth:-2085.226209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.30; MB_Bottom_Detect_Filter_Max_Range = 305.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.96; 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 8 # Segment length 101.015125 meters # Minimum depth: 2085.210603 meters looking forward 200.000000 meters along route # Maximum depth: 2088.576429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.210603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941043; longitude = -129.113395; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2010.744189; finalDepth = 2010.210603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0270679999999 # Actual altitude: 78.0270679999999 # Commanded vehicle depth:2010.210603 # Seafloor depth:-2088.237671 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.015125 meters # Minimum depth: 2085.744189 meters looking forward 200.000000 meters along route # Maximum depth: 2088.705408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.744189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940923; longitude = -129.113465; captureRadius = 10; duration = 101; initialDepth = 2012.436759; finalDepth = 2010.744189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0270679999999 # Actual altitude: 78.0270679999999 # Commanded vehicle depth:2010.744189 # Seafloor depth:-2088.699183 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.015125 meters # Minimum depth: 2087.436759 meters looking forward 200.000000 meters along route # Maximum depth: 2088.669881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.436759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940024; longitude = -129.113991; captureRadius = 10; duration = 101; initialDepth = 2012.226660; finalDepth = 2012.436759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9549940000002 # Actual altitude: 77.9549940000002 # Commanded vehicle depth:2012.436759 # Seafloor depth:-2087.733784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 311.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.015125 meters # Minimum depth: 2087.226660 meters looking forward 200.000000 meters along route # Maximum depth: 2089.120300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.226660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939124; longitude = -129.114516; captureRadius = 10; duration = 101; initialDepth = 2008.239684; finalDepth = 2012.226660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.154532 # Actual altitude: 76.154532 # Commanded vehicle depth:2012.22666 # Seafloor depth:-2088.381192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 304.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 304.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.015125 meters # Minimum depth: 2083.239684 meters looking forward 200.000000 meters along route # Maximum depth: 2090.175258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.239684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938219; longitude = -129.115045; captureRadius = 10; duration = 101; initialDepth = 2002.731333; finalDepth = 2008.239684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.922654 # Actual altitude: 80.922654 # Commanded vehicle depth:2008.239684 # Seafloor depth:-2089.162338 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 323.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.015125 meters # Minimum depth: 2077.731333 meters looking forward 200.000000 meters along route # Maximum depth: 2090.175258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.731333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937303; longitude = -129.115581; captureRadius = 10; duration = 101; initialDepth = 2002.731333; finalDepth = 2002.731333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.922654 # Actual altitude: 80.922654 # Commanded vehicle depth:2002.731333 # Seafloor depth:-2082.934588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 323.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 101.015125 meters # Minimum depth: 2077.731333 meters looking forward 200.000000 meters along route # Maximum depth: 2087.273208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.731333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936462; longitude = -129.116072; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2002.731333; finalDepth = 2002.731333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2032549999999 # Actual altitude: 80.2032549999999 # Commanded vehicle depth:2002.731333 # Seafloor depth:-2077.842224 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 320.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.015125 meters # Minimum depth: 2077.731333 meters looking forward 200.000000 meters along route # Maximum depth: 2091.314253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.731333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936298; longitude = -129.115313; captureRadius = 10; duration = 101; initialDepth = 2008.820448; finalDepth = 2002.731333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.758836 # Actual altitude: 79.758836 # Commanded vehicle depth:2002.731333 # Seafloor depth:-2082.490169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 319.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.015125 meters # Minimum depth: 2083.820448 meters looking forward 200.000000 meters along route # Maximum depth: 2100.141611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.820448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936010; longitude = -129.113975; captureRadius = 10; duration = 101; initialDepth = 2016.314253; finalDepth = 2008.820448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9641339999998 # Actual altitude: 82.9641339999998 # Commanded vehicle depth:2008.820448 # Seafloor depth:-2091.784582 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.59; MB_Bottom_Detect_Filter_Max_Range = 331.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 101.015125 meters # Minimum depth: 2091.314253 meters looking forward 200.000000 meters along route # Maximum depth: 2101.775996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.314253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935722; longitude = -129.112639; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2023.888903; finalDepth = 2016.314253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4712079999999 # Actual altitude: 84.4712079999999 # Commanded vehicle depth:2016.314253 # Seafloor depth:-2100.785461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.89; MB_Bottom_Detect_Filter_Max_Range = 337.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2098.888903 meters looking forward 200.000000 meters along route # Maximum depth: 2101.775996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.888903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936336; longitude = -129.112062; captureRadius = 10; duration = 101; initialDepth = 2023.888903; finalDepth = 2023.888903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4712079999999 # Actual altitude: 84.4712079999999 # Commanded vehicle depth:2023.888903 # Seafloor depth:-2101.223435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.89; MB_Bottom_Detect_Filter_Max_Range = 337.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2098.888903 meters looking forward 200.000000 meters along route # Maximum depth: 2103.298816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.888903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937149; longitude = -129.111298; captureRadius = 10; duration = 101; initialDepth = 2024.371265; finalDepth = 2023.888903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3345319999999 # Actual altitude: 77.3345319999999 # Commanded vehicle depth:2023.888903 # Seafloor depth:-2099.124662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 309.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2099.371265 meters looking forward 200.000000 meters along route # Maximum depth: 2111.397260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.371265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937955; longitude = -129.110541; captureRadius = 10; duration = 101; initialDepth = 2029.550459; finalDepth = 2024.371265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.7556419999996 # Actual altitude: 79.7556419999996 # Commanded vehicle depth:2024.371265 # Seafloor depth:-2104.126907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 319.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 319.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2104.550459 meters looking forward 200.000000 meters along route # Maximum depth: 2123.243186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.550459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938716; longitude = -129.109826; captureRadius = 10; duration = 101; initialDepth = 2039.698755; finalDepth = 2029.550459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6010379999998 # Actual altitude: 82.6010379999998 # Commanded vehicle depth:2029.550459 # Seafloor depth:-2112.151497 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.52; MB_Bottom_Detect_Filter_Max_Range = 330.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2114.698755 meters looking forward 200.000000 meters along route # Maximum depth: 2132.709540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.698755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939484; longitude = -129.109104; captureRadius = 10; duration = 101; initialDepth = 2050.803310; finalDepth = 2039.698755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2507340000002 # Actual altitude: 84.2507340000002 # Commanded vehicle depth:2039.698755 # Seafloor depth:-2123.949489 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.85; MB_Bottom_Detect_Filter_Max_Range = 337.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2125.803310 meters looking forward 200.000000 meters along route # Maximum depth: 2148.027322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.803310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940294; longitude = -129.108344; captureRadius = 10; duration = 101; initialDepth = 2059.962326; finalDepth = 2050.803310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2507340000002 # Actual altitude: 84.2507340000002 # Commanded vehicle depth:2050.80331 # Seafloor depth:-2132.938240 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.85; MB_Bottom_Detect_Filter_Max_Range = 337.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.015125 meters # Minimum depth: 2134.962326 meters looking forward 200.000000 meters along route # Maximum depth: 2158.020708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.962326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941103; longitude = -129.107583; captureRadius = 10; duration = 101; initialDepth = 2066.688113; finalDepth = 2059.962326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4117590000001 # Actual altitude: 89.4117590000001 # Commanded vehicle depth:2059.962326 # Seafloor depth:-2149.374085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.88; 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 5 # Segment length 101.015125 meters # Minimum depth: 2141.688113 meters looking forward 200.000000 meters along route # Maximum depth: 2163.538521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.688113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941875; longitude = -129.106858; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2076.483867; finalDepth = 2066.688113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.2640959999999 # Actual altitude: 92.2640959999999 # Commanded vehicle depth:2066.688113 # Seafloor depth:-2158.952209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.45; 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 5 # Segment length 101.015125 meters # Minimum depth: 2154.209957 meters looking forward 200.000000 meters along route # Maximum depth: 2167.921137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.483867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941727; longitude = -129.106480; captureRadius = 10; duration = 101; initialDepth = 2080.896813; finalDepth = 2076.483867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.2640959999999 # Actual altitude: 92.2640959999999 # Commanded vehicle depth:2076.4838666 # Seafloor depth:-2163.715124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.45; 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 101.015125 meters # Minimum depth: 2155.896813 meters looking forward 200.000000 meters along route # Maximum depth: 2167.949422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.896813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941227; longitude = -129.105198; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2088.501344; finalDepth = 2080.896813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2312573999998 # Actual altitude: 87.2312573999998 # Commanded vehicle depth:2080.896813 # Seafloor depth:-2167.538513 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.45; MB_Bottom_Detect_Filter_Max_Range = 348.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.015125 meters # Minimum depth: 2167.360691 meters looking forward 200.000000 meters along route # Maximum depth: 2172.496983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.501344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941013; longitude = -129.105316; captureRadius = 10; duration = 101; initialDepth = 2093.742882; finalDepth = 2088.501344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6417000000001 # Actual altitude: 86.6417000000001 # Commanded vehicle depth:2088.5013444 # Seafloor depth:-2168.159122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.33; MB_Bottom_Detect_Filter_Max_Range = 346.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.015125 meters # Minimum depth: 2168.742882 meters looking forward 200.000000 meters along route # Maximum depth: 2176.198311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.742882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940114; longitude = -129.105811; captureRadius = 10; duration = 101; initialDepth = 2098.554833; finalDepth = 2093.742882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6577776000004 # Actual altitude: 79.6577776000004 # Commanded vehicle depth:2093.742882 # Seafloor depth:-2172.497034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 318.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.93; MB_Bottom_Detect_Filter_Max_Range = 318.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.015125 meters # Minimum depth: 2173.554833 meters looking forward 200.000000 meters along route # Maximum depth: 2179.620618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.554833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939214; longitude = -129.106306; captureRadius = 10; duration = 101; initialDepth = 2101.875126; finalDepth = 2098.554833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.754152 # Actual altitude: 78.754152 # Commanded vehicle depth:2098.554833 # Seafloor depth:-2176.548758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 315.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.015125 meters # Minimum depth: 2176.875126 meters looking forward 200.000000 meters along route # Maximum depth: 2180.359119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.875126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938315; longitude = -129.106801; captureRadius = 10; duration = 101; initialDepth = 2098.854675; finalDepth = 2101.875126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0597480000001 # Actual altitude: 78.0597480000001 # Commanded vehicle depth:2101.875126 # Seafloor depth:-2179.934874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 312.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.015125 meters # Minimum depth: 2173.854675 meters looking forward 200.000000 meters along route # Maximum depth: 2180.359119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.854675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937439; longitude = -129.107283; captureRadius = 10; duration = 101; initialDepth = 2098.355339; finalDepth = 2098.854675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9006039999999 # Actual altitude: 78.9006039999999 # Commanded vehicle depth:2098.854675 # Seafloor depth:-2177.755279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 101.015125 meters # Minimum depth: 2173.355339 meters looking forward 200.000000 meters along route # Maximum depth: 2180.359119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.355339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936574; longitude = -129.107759; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2094.437385; finalDepth = 2098.355339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9006039999999 # Actual altitude: 78.9006039999999 # Commanded vehicle depth:2098.355339 # Seafloor depth:-2173.610596 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 315.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 315.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.015125 meters # Minimum depth: 2169.437385 meters looking forward 200.000000 meters along route # Maximum depth: 2176.611552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.437385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936426; longitude = -129.107729; captureRadius = 10; duration = 101; initialDepth = 2094.437385; finalDepth = 2094.437385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3440429999996 # Actual altitude: 78.3440429999996 # Commanded vehicle depth:2094.437385 # Seafloor depth:-2172.781428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.015125 meters # Minimum depth: 2169.437385 meters looking forward 200.000000 meters along route # Maximum depth: 2172.358827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.437385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935527; longitude = -129.107546; captureRadius = 10; duration = 101; initialDepth = 2094.619749; finalDepth = 2094.437385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3440429999996 # Actual altitude: 78.3440429999996 # Commanded vehicle depth:2094.437385 # Seafloor depth:-2169.463846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 313.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 313.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.015125 meters # Minimum depth: 2169.619749 meters looking forward 200.000000 meters along route # Maximum depth: 2176.976306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.619749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934627; longitude = -129.107363; captureRadius = 10; duration = 101; initialDepth = 2097.279545; finalDepth = 2094.619749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2792589999999 # Actual altitude: 77.2792589999999 # Commanded vehicle depth:2094.619749 # Seafloor depth:-2171.899008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.015125 meters # Minimum depth: 2172.279545 meters looking forward 200.000000 meters along route # Maximum depth: 2190.253827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.279545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933728; longitude = -129.107180; captureRadius = 10; duration = 101; initialDepth = 2103.755829; finalDepth = 2097.279545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5501060000001 # Actual altitude: 80.5501060000001 # Commanded vehicle depth:2097.279545 # Seafloor depth:-2177.829651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 322.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.015125 meters # Minimum depth: 2178.755829 meters looking forward 200.000000 meters along route # Maximum depth: 2206.542836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.755829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932829; longitude = -129.106997; captureRadius = 10; duration = 101; initialDepth = 2120.197639; finalDepth = 2103.755829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9211489999998 # Actual altitude: 88.9211489999998 # Commanded vehicle depth:2103.755829 # Seafloor depth:-2192.676978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.78; 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 3 # Segment length 101.015125 meters # Minimum depth: 2195.197639 meters looking forward 200.000000 meters along route # Maximum depth: 2223.347224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2120.197639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931929; longitude = -129.106813; captureRadius = 10; duration = 101; initialDepth = 2134.475477; finalDepth = 2120.197639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9211489999998 # Actual altitude: 88.9211489999998 # Commanded vehicle depth:2120.197639 # Seafloor depth:-2207.648831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.78; 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 3 # Segment length 101.015125 meters # Minimum depth: 2209.475477 meters looking forward 200.000000 meters along route # Maximum depth: 2237.112226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.475477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931030; longitude = -129.106630; captureRadius = 10; duration = 101; initialDepth = 2138.440321; finalDepth = 2134.475477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2044209999999 # Actual altitude: 90.2044209999999 # Commanded vehicle depth:2134.475477 # Seafloor depth:-2224.679898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.04; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 101.015125 meters # Minimum depth: 2213.440321 meters looking forward 200.000000 meters along route # Maximum depth: 2237.112226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2138.440321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930070; longitude = -129.106435; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2142.725858; finalDepth = 2138.440321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.9754499999999 # Actual altitude: 97.9754499999999 # Commanded vehicle depth:2138.440321 # Seafloor depth:-2236.415771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.60; 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 2 # Segment length 101.015125 meters # Minimum depth: 2228.806148 meters looking forward 200.000000 meters along route # Maximum depth: 2242.887384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.725858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929950; longitude = -129.106505; captureRadius = 10; duration = 101; initialDepth = 2153.806148; finalDepth = 2142.725858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.9754499999999 # Actual altitude: 97.9754499999999 # Commanded vehicle depth:2142.7258579 # Seafloor depth:-2230.822043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.60; 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 2 # Segment length 101.015125 meters # Minimum depth: 2228.806148 meters looking forward 200.000000 meters along route # Maximum depth: 2242.887384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2153.806148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929080; longitude = -129.107015; captureRadius = 10; duration = 101; initialDepth = 2151.756522; finalDepth = 2153.806148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.0961851000002 # Actual altitude: 88.0961851000002 # Commanded vehicle depth:2153.806148 # Seafloor depth:-2240.329026 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.62; 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 2 # Segment length 101.015125 meters # Minimum depth: 2226.756522 meters looking forward 200.000000 meters along route # Maximum depth: 2238.949469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.756522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928242; longitude = -129.107507; captureRadius = 10; duration = 101; initialDepth = 2148.585158; finalDepth = 2151.756522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5228779999998 # Actual altitude: 86.5228779999998 # Commanded vehicle depth:2151.756522 # Seafloor depth:-2233.356718 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2223.585158 meters looking forward 200.000000 meters along route # Maximum depth: 2231.975639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.585158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927342; longitude = -129.108034; captureRadius = 10; duration = 101; initialDepth = 2148.585158; finalDepth = 2148.585158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6001959999999 # Actual altitude: 81.6001959999999 # Commanded vehicle depth:2148.585158 # Seafloor depth:-2225.805117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 326.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2223.585158 meters looking forward 200.000000 meters along route # Maximum depth: 2226.137992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.585158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926443; longitude = -129.108561; captureRadius = 10; duration = 101; initialDepth = 2149.294701; finalDepth = 2148.585158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.219959 # Actual altitude: 77.219959 # Commanded vehicle depth:2148.585158 # Seafloor depth:-2224.698751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.44; MB_Bottom_Detect_Filter_Max_Range = 308.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2224.294701 meters looking forward 200.000000 meters along route # Maximum depth: 2235.233125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.294701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925543; longitude = -129.109089; captureRadius = 10; duration = 101; initialDepth = 2152.542429; finalDepth = 2149.294701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4098520000002 # Actual altitude: 77.4098520000002 # Commanded vehicle depth:2149.294701 # Seafloor depth:-2226.704553 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 309.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.48; MB_Bottom_Detect_Filter_Max_Range = 309.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2227.542429 meters looking forward 200.000000 meters along route # Maximum depth: 2240.433085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2152.542429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924644; longitude = -129.109616; captureRadius = 10; duration = 101; initialDepth = 2162.086634; finalDepth = 2152.542429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7477829999998 # Actual altitude: 83.7477829999998 # Commanded vehicle depth:2152.542429 # Seafloor depth:-2236.290212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 334.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2237.086634 meters looking forward 200.000000 meters along route # Maximum depth: 2242.844747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2162.086634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923745; longitude = -129.110143; captureRadius = 10; duration = 101; initialDepth = 2164.873621; finalDepth = 2162.086634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7477829999998 # Actual altitude: 83.7477829999998 # Commanded vehicle depth:2162.086634 # Seafloor depth:-2241.131651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 334.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2239.873621 meters looking forward 200.000000 meters along route # Maximum depth: 2248.403915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.873621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922845; longitude = -129.110671; captureRadius = 10; duration = 101; initialDepth = 2170.739840; finalDepth = 2164.873621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.113546 # Actual altitude: 79.113546 # Commanded vehicle depth:2164.873621 # Seafloor depth:-2243.987167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2245.739840 meters looking forward 200.000000 meters along route # Maximum depth: 2253.460261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2170.739840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921946; longitude = -129.111198; captureRadius = 10; duration = 101; initialDepth = 2173.706031; finalDepth = 2170.739840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.113546 # Actual altitude: 79.113546 # Commanded vehicle depth:2170.73984 # Seafloor depth:-2248.525175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 316.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2248.706031 meters looking forward 200.000000 meters along route # Maximum depth: 2253.836572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2173.706031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921046; longitude = -129.111725; captureRadius = 10; duration = 101; initialDepth = 2169.339015; finalDepth = 2173.706031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0240869999998 # Actual altitude: 80.0240869999998 # Commanded vehicle depth:2173.706031 # Seafloor depth:-2253.730118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 320.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2244.339015 meters looking forward 200.000000 meters along route # Maximum depth: 2253.836572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2169.339015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920177; longitude = -129.112235; captureRadius = 10; duration = 101; initialDepth = 2162.017903; finalDepth = 2169.339015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0240869999998 # Actual altitude: 80.0240869999998 # Commanded vehicle depth:2169.339015 # Seafloor depth:-2248.449948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 320.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2237.017903 meters looking forward 200.000000 meters along route # Maximum depth: 2247.867049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2162.017903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919337; longitude = -129.112727; captureRadius = 10; duration = 101; initialDepth = 2159.708987; finalDepth = 2162.017903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4414400000001 # Actual altitude: 81.4414400000001 # Commanded vehicle depth:2162.017903 # Seafloor depth:-2243.459343 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.29; MB_Bottom_Detect_Filter_Max_Range = 325.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2234.708987 meters looking forward 200.000000 meters along route # Maximum depth: 2241.697290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.708987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918438; longitude = -129.113254; captureRadius = 10; duration = 101; initialDepth = 2159.708987; finalDepth = 2159.708987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4414400000001 # Actual altitude: 81.4414400000001 # Commanded vehicle depth:2159.708987 # Seafloor depth:-2236.225500 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.29; MB_Bottom_Detect_Filter_Max_Range = 325.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2234.708987 meters looking forward 200.000000 meters along route # Maximum depth: 2238.862854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.708987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917539; longitude = -129.113782; captureRadius = 10; duration = 101; initialDepth = 2162.333417; finalDepth = 2159.708987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7538100000002 # Actual altitude: 76.7538100000002 # Commanded vehicle depth:2159.708987 # Seafloor depth:-2236.462797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 307.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2237.333417 meters looking forward 200.000000 meters along route # Maximum depth: 2240.608903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2162.333417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916639; longitude = -129.114309; captureRadius = 10; duration = 101; initialDepth = 2163.344427; finalDepth = 2162.333417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7538100000002 # Actual altitude: 76.7538100000002 # Commanded vehicle depth:2162.333417 # Seafloor depth:-2239.054926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 307.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2238.344427 meters looking forward 200.000000 meters along route # Maximum depth: 2240.608903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.344427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915740; longitude = -129.114836; captureRadius = 10; duration = 101; initialDepth = 2160.175570; finalDepth = 2163.344427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1208620000002 # Actual altitude: 77.1208620000002 # Commanded vehicle depth:2163.344427 # Seafloor depth:-2240.465289 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 308.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 308.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2235.175570 meters looking forward 200.000000 meters along route # Maximum depth: 2240.154779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2160.175570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914840; longitude = -129.115363; captureRadius = 10; duration = 101; initialDepth = 2159.050718; finalDepth = 2160.175570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1216480000003 # Actual altitude: 78.1216480000003 # Commanded vehicle depth:2160.17557 # Seafloor depth:-2238.297218 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2234.050718 meters looking forward 200.000000 meters along route # Maximum depth: 2238.042940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.050718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913941; longitude = -129.115891; captureRadius = 10; duration = 101; initialDepth = 2157.928262; finalDepth = 2159.050718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1216480000003 # Actual altitude: 78.1216480000003 # Commanded vehicle depth:2159.050718 # Seafloor depth:-2235.384275 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 312.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 312.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.015125 meters # Minimum depth: 2232.928262 meters looking forward 200.000000 meters along route # Maximum depth: 2236.140526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.928262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913100; longitude = -129.116384; captureRadius = 10; duration = 101; initialDepth = 2157.928262; finalDepth = 2157.928262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3335569999999 # Actual altitude: 76.3335569999999 # Commanded vehicle depth:2157.928262 # Seafloor depth:-2233.817591 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 305.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 305.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.33; 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 101.015125 meters # Minimum depth: 2232.928262 meters looking forward 200.000000 meters along route # Maximum depth: 2242.246164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.928262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912262; longitude = -129.116875; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 2158.222695; finalDepth = 2157.928262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9880590000002 # Actual altitude: 76.9880590000002 # Commanded vehicle depth:2157.928262 # Seafloor depth:-2234.916321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 307.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 307.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2233.222695 meters looking forward 200.000000 meters along route # Maximum depth: 2267.549923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2158.222695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912051; longitude = -129.116518; captureRadius = 10; duration = 101; initialDepth = 2170.548484; finalDepth = 2158.222695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0718850000003 # Actual altitude: 84.0718850000003 # Commanded vehicle depth:2158.222695 # Seafloor depth:-2242.294580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 336.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2245.548484 meters looking forward 200.000000 meters along route # Maximum depth: 2271.672775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2170.548484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911419; longitude = -129.115447; captureRadius = 10; duration = 101; initialDepth = 2178.029482; finalDepth = 2170.548484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0997139999999 # Actual altitude: 97.0997139999999 # Commanded vehicle depth:2170.548484 # Seafloor depth:-2267.648198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; 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 1 # Segment length 101.015125 meters # Minimum depth: 2253.029482 meters looking forward 200.000000 meters along route # Maximum depth: 2271.672775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2178.029482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910787; longitude = -129.114376; captureRadius = 10; duration = 101; initialDepth = 2174.131271; finalDepth = 2178.029482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0997139999999 # Actual altitude: 97.0997139999999 # Commanded vehicle depth:2178.029482 # Seafloor depth:-2264.783784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.42; 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 1 # Segment length 101.015125 meters # Minimum depth: 2249.131271 meters looking forward 200.000000 meters along route # Maximum depth: 2262.488174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2174.131271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910155; longitude = -129.113306; captureRadius = 10; duration = 101; initialDepth = 2169.820920; finalDepth = 2174.131271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7543020000003 # Actual altitude: 86.7543020000003 # Commanded vehicle depth:2174.131271 # Seafloor depth:-2252.972384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 347.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2244.820920 meters looking forward 200.000000 meters along route # Maximum depth: 2252.604550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2169.820920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909523; longitude = -129.112235; captureRadius = 10; duration = 101; initialDepth = 2169.820920; finalDepth = 2169.820920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1436249999997 # Actual altitude: 79.1436249999997 # Commanded vehicle depth:2169.82092 # Seafloor depth:-2248.964545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2244.820920 meters looking forward 200.000000 meters along route # Maximum depth: 2258.006978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2169.820920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908891; longitude = -129.111164; captureRadius = 10; duration = 101; initialDepth = 2172.402069; finalDepth = 2169.820920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1436249999997 # Actual altitude: 79.1436249999997 # Commanded vehicle depth:2169.82092 # Seafloor depth:-2246.513888 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 316.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 316.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2247.402069 meters looking forward 200.000000 meters along route # Maximum depth: 2270.948971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2172.402069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908259; longitude = -129.110093; captureRadius = 10; duration = 101; initialDepth = 2184.968840; finalDepth = 2172.402069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.9433489999997 # Actual altitude: 85.9433489999997 # Commanded vehicle depth:2172.402069 # Seafloor depth:-2258.345418 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.19; MB_Bottom_Detect_Filter_Max_Range = 343.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2259.968840 meters looking forward 200.000000 meters along route # Maximum depth: 2287.419133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2184.968840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907627; longitude = -129.109023; captureRadius = 10; duration = 101; initialDepth = 2198.532672; finalDepth = 2184.968840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4930119999999 # Actual altitude: 86.4930119999999 # Commanded vehicle depth:2184.96884 # Seafloor depth:-2271.461852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 345.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.015125 meters # Minimum depth: 2273.532672 meters looking forward 200.000000 meters along route # Maximum depth: 2289.560729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2303.507580 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2198.532672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907016; longitude = -129.107987; captureRadius = 10; duration = 101; initialDepth = 2198.532672; finalDepth = 2198.532672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8248480000002 # Actual altitude: 89.8248480000002 # Commanded vehicle depth:2198.532672 # Seafloor depth:-2288.357520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.96; 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; } # ####################################################### # 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: 89.8248480000002 # Sonar parameter altitude: 89.8248480000002 # Commanded vehicle depth:2198.532672 # Seafloor depth:-2285.166382 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.96; 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 101.015125 meters # Minimum depth: 2273.532672 meters looking forward 200.000000 meters along route # Maximum depth: 2289.560729 meters looking forward 200.000000 meters along route # Vehicle depth: 2198.532672 meters behavior waypoint { latitude = 47.906416; longitude = -129.106971; captureRadius = 10; duration = 549; depth = 2198.532672; 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 2198.532672 meters set by local depth and desired altitude behavior descend { duration = 6542; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2200.166382; minAltitude = 50.000000; } behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 101.015125 meters # Minimum depth: 2273.532672 meters looking forward 200.000000 meters along route # Maximum depth: 2289.560729 meters looking forward 200.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 47.906416; longitude = -129.106971; 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 = 311.364074; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 311.364074; 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 = 220; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################