# 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_4v8z.rte # Mission File: Endeavour2008_4v8z.cfg # Distance: 75124.114390 (m) # Estimated Time: 54005 (s) 15.001 (hr) # Abort Time: 60397 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2602 (s) # Way Points: 71 # Route Points: 743 # 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: 80 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 35 (m) # Maximum Vehicle Depth: 2222.633504 (m) # Abort Vehicle Depth: 2247.633504 (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 -129.092249 47.929261 -2136.795085 0.000000 1 # 1 -129.094925 47.924584 -2137.903646 556.942995 1 # 2 -129.096621 47.925064 -2143.358236 694.349417 1 # 3 -129.073869 47.965897 -2092.718424 5540.315509 1 # 4 -129.075921 47.966316 -2082.871094 5700.442626 1 # 5 -129.093052 47.935916 -2128.009115 9313.243234 1 # 6 -129.093007 47.933068 -2115.725586 9629.813332 1 # 7 -129.094792 47.930610 -2122.170573 9933.825168 1 # 8 -129.097424 47.925423 -2137.423828 10542.891609 1 # 9 -129.102242 47.926862 -2230.769206 10936.749427 1 # 10 -129.098896 47.933878 -2217.196940 11755.543028 1 # 11 -129.095952 47.937026 -2180.466797 12168.789868 1 # 12 -129.078330 47.967036 -2099.698893 15754.386228 1 # 13 -129.081007 47.967665 -2105.720378 15966.082344 1 # 14 -129.089974 47.951836 -2138.159668 17848.504779 1 # 15 -129.091000 47.947549 -2126.169108 18331.121009 1 # 16 -129.092873 47.944041 -2151.276693 18745.328036 1 # 17 -129.094613 47.943591 -2173.481934 18884.537220 1 # 18 -129.102822 47.928361 -2237.822266 20684.865516 1 # 19 -129.104428 47.930340 -2252.994792 20935.378760 1 # 20 -129.096621 47.943681 -2185.800130 22528.702044 1 # 21 -129.096799 47.946080 -2213.912435 22795.605975 1 # 22 -129.092918 47.952645 -2208.152344 23580.785097 1 # 23 -129.090330 47.954744 -2184.883138 23883.649891 1 # 24 -129.082479 47.968295 -2137.982422 25499.813770 1 # 25 -129.084709 47.968955 -2176.992513 25681.731166 1 # 26 -129.093721 47.953365 -2207.356445 27540.459803 1 # 27 -129.094881 47.951686 -2216.284180 27746.177329 1 # 28 -129.098762 47.944940 -2209.788900 28549.973515 1 # 29 -129.101751 47.944641 -2162.882487 28775.650548 1 # 30 -129.097468 47.951836 -2185.048177 29636.934142 1 # 31 -129.098539 47.953365 -2156.689128 29824.737227 1 # 32 -129.093810 47.961400 -2171.682617 30785.005233 1 # 33 -129.090777 47.962629 -2186.045247 31049.482941 1 # 34 -129.086182 47.969314 -2178.138835 31867.894132 1 # 35 -129.087252 47.969584 -2171.797526 31953.251272 1 # 36 -129.090063 47.964907 -2177.104980 32513.803511 1 # 37 -129.091580 47.965417 -2176.126465 33199.366163 1 # 38 -129.088992 47.969764 -2166.558268 33719.699677 1 # 39 -129.090910 47.970274 -2156.780924 33873.678340 1 # 40 -129.072396 48.000164 -2189.071289 37471.620096 1 # 41 -129.070032 48.001303 -2193.968099 37688.739401 1 # 42 -129.089661 47.970034 -2162.457682 41460.202840 1 # 43 -129.088501 47.969734 -2168.085938 41552.968359 1 # 44 -129.068961 48.000943 -2197.052083 45315.710122 1 # 45 -129.067623 48.000674 -2189.390299 45419.950997 1 # 46 -129.087386 47.969494 -2171.948242 49186.109603 1 # 47 -129.086182 47.969224 -2178.507487 49280.884483 1 # 48 -129.066418 48.000314 -2181.677409 53037.850116 1 # 49 -129.065214 47.999954 -2169.291341 53136.197416 1 # 50 -129.084888 47.969015 -2179.268880 56875.229108 1 # 51 -129.083683 47.968745 -2164.473633 56970.004774 1 # 52 -129.063965 47.999624 -2176.424479 60704.221720 1 # 53 -129.062671 47.999235 -2178.442708 60810.006272 1 # 54 -129.072932 47.982985 -2134.333333 62771.587436 1 # 55 -129.073244 47.980977 -2126.725586 62996.054975 1 # 56 -129.072040 47.981786 -2128.372070 63123.229870 1 # 57 -129.061333 47.998785 -2170.913411 65174.504519 1 # 58 -129.059816 47.998275 -2159.853190 65301.042175 1 # 59 -129.068114 47.985324 -2128.835938 66868.014694 1 # 60 -129.066508 47.984874 -2123.458008 66997.857411 1 # 61 -129.058388 47.997885 -2159.189616 68565.764454 1 # 62 -129.066285 47.997346 -2161.874349 69157.865928 1 # 63 -129.073646 47.995817 -2163.468099 69732.691467 1 # 64 -129.068961 47.984754 -2131.935221 71010.964326 1 # 65 -129.076188 47.980707 -2161.870443 71713.240670 1 # 66 -129.078419 47.989191 -2160.846680 72670.818063 1 # 67 -129.079936 47.988981 -2153.869141 72786.367409 1 # 68 -129.083282 47.983855 -2149.939616 73408.459685 1 # 69 -129.081631 47.974711 -2149.903158 74432.205501 1 # 70 -129.087698 47.970004 -2168.959635 75124.114390 1 # # A total of 743 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 57600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2222.633504; abortDepth = 2247.633504; minAltitude = 50.000000; abortAltitude = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2602; 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 70 # Segment length 110.674084 meters # Minimum depth: 2168.959635 meters looking forward 200.000000 meters along route # Maximum depth: 2169.471493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.959635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970004; longitude = -129.087698; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2088.959635; finalDepth = 2088.959635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2088.959635 # Seafloor depth:-2168.959635 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.00; 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 = 320.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.674084 meters # Minimum depth: 2168.959635 meters looking forward 200.000000 meters along route # Maximum depth: 2169.817742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.959635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970385; longitude = -129.087208; captureRadius = 10; duration = 110; initialDepth = 2089.663226; finalDepth = 2088.959635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7312269999998 # Actual altitude: 80.7312269999998 # Commanded vehicle depth:2088.959635 # Seafloor depth:-2169.690862 # 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 70 # Segment length 110.674084 meters # Minimum depth: 2169.663226 meters looking forward 200.000000 meters along route # Maximum depth: 2170.491929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.663226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971111; longitude = -129.086271; captureRadius = 10; duration = 110; initialDepth = 2085.459828; finalDepth = 2089.663226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7312269999998 # Actual altitude: 80.7312269999998 # Commanded vehicle depth:2089.663226 # Seafloor depth:-2169.881391 # 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 70 # Segment length 110.674084 meters # Minimum depth: 2165.459828 meters looking forward 200.000000 meters along route # Maximum depth: 2170.491929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.459828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971838; longitude = -129.085334; captureRadius = 10; duration = 110; initialDepth = 2079.882252; finalDepth = 2085.459828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.522727 # Actual altitude: 84.522727 # Commanded vehicle depth:2085.459828 # Seafloor depth:-2169.982555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 338.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.674084 meters # Minimum depth: 2159.882252 meters looking forward 200.000000 meters along route # Maximum depth: 2169.660745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.882252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972565; longitude = -129.084397; captureRadius = 10; duration = 110; initialDepth = 2075.665023; finalDepth = 2079.882252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.88645 # Actual altitude: 84.88645 # Commanded vehicle depth:2079.882252 # Seafloor depth:-2164.768702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.55; 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 = 339.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.674084 meters # Minimum depth: 2155.665023 meters looking forward 200.000000 meters along route # Maximum depth: 2164.155060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.665023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973292; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2070.058328; finalDepth = 2075.665023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.88645 # Actual altitude: 84.88645 # Commanded vehicle depth:2075.665023 # Seafloor depth:-2159.224753 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.55; 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 = 339.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.674084 meters # Minimum depth: 2150.058328 meters looking forward 200.000000 meters along route # Maximum depth: 2158.690415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.058328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974019; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2069.903158; finalDepth = 2070.058328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9105730000001 # Actual altitude: 84.9105730000001 # Commanded vehicle depth:2070.058328 # Seafloor depth:-2154.968901 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.64; 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 = 339.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 110.674084 meters # Minimum depth: 2149.903158 meters looking forward 200.000000 meters along route # Maximum depth: 2156.295030 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.903158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974711; longitude = -129.081631; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2064.476167; finalDepth = 2069.903158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9105730000001 # Actual altitude: 84.9105730000001 # Commanded vehicle depth:2069.903158 # Seafloor depth:-2149.903158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.64; 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 = 339.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.674084 meters # Minimum depth: 2144.476167 meters looking forward 200.000000 meters along route # Maximum depth: 2147.063899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.476167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975205; longitude = -129.081720; captureRadius = 10; duration = 110; initialDepth = 2060.733748; finalDepth = 2064.476167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5877320000004 # Actual altitude: 82.5877320000004 # Commanded vehicle depth:2064.476167 # Seafloor depth:-2147.063899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.35; 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 = 330.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.674084 meters # Minimum depth: 2140.733748 meters looking forward 200.000000 meters along route # Maximum depth: 2145.158652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.733748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976688; longitude = -129.081988; captureRadius = 10; duration = 110; initialDepth = 2070.520600; finalDepth = 2060.733748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5877320000004 # Actual altitude: 82.5877320000004 # Commanded vehicle depth:2060.733748 # Seafloor depth:-2140.733748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.35; 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 = 330.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.674084 meters # Minimum depth: 2150.520600 meters looking forward 200.000000 meters along route # Maximum depth: 2151.628972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.520600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978171; longitude = -129.082256; captureRadius = 10; duration = 110; initialDepth = 2069.649863; finalDepth = 2070.520600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2070.5206 # Seafloor depth:-2150.520600 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.00; 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 = 320.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.674084 meters # Minimum depth: 2149.649863 meters looking forward 200.000000 meters along route # Maximum depth: 2150.399111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.649863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979653; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2069.780557; finalDepth = 2069.649863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2069.649863 # Seafloor depth:-2149.649863 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.00; 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 = 320.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.674084 meters # Minimum depth: 2149.780557 meters looking forward 200.000000 meters along route # Maximum depth: 2150.563094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.780557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981136; longitude = -129.082791; captureRadius = 10; duration = 110; initialDepth = 2070.268687; finalDepth = 2069.780557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.782537 # Actual altitude: 80.782537 # Commanded vehicle depth:2069.780557 # Seafloor depth:-2150.563094 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.13; 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 = 323.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.674084 meters # Minimum depth: 2150.268687 meters looking forward 200.000000 meters along route # Maximum depth: 2151.675069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.268687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982619; longitude = -129.083059; captureRadius = 10; duration = 110; initialDepth = 2069.939616; finalDepth = 2070.268687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4063819999997 # Actual altitude: 81.4063819999997 # Commanded vehicle depth:2070.268687 # Seafloor depth:-2151.675069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.63; 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 = 325.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 110.674084 meters # Minimum depth: 2149.939616 meters looking forward 200.000000 meters along route # Maximum depth: 2151.675069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.939616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983855; longitude = -129.083282; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2069.939616; finalDepth = 2069.939616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4063819999997 # Actual altitude: 81.4063819999997 # Commanded vehicle depth:2069.939616 # Seafloor depth:-2149.939616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.63; 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 = 325.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.674084 meters # Minimum depth: 2149.939616 meters looking forward 200.000000 meters along route # Maximum depth: 2152.338760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.939616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983991; longitude = -129.083193; captureRadius = 10; duration = 110; initialDepth = 2072.281393; finalDepth = 2069.939616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8941569999997 # Actual altitude: 80.8941569999997 # Commanded vehicle depth:2069.939616 # Seafloor depth:-2150.833773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.58; 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 = 323.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.674084 meters # Minimum depth: 2152.281393 meters looking forward 200.000000 meters along route # Maximum depth: 2153.442028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.281393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985017; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2073.064118; finalDepth = 2072.281393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8941569999997 # Actual altitude: 80.8941569999997 # Commanded vehicle depth:2072.281393 # Seafloor depth:-2152.733958 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.58; 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 = 323.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.674084 meters # Minimum depth: 2153.064118 meters looking forward 200.000000 meters along route # Maximum depth: 2154.614762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.064118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986042; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2072.390951; finalDepth = 2073.064118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9395800000002 # Actual altitude: 80.9395800000002 # Commanded vehicle depth:2073.064118 # Seafloor depth:-2154.003698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.76; 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 = 323.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.674084 meters # Minimum depth: 2152.390951 meters looking forward 200.000000 meters along route # Maximum depth: 2155.488148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.390951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987067; longitude = -129.081185; captureRadius = 10; duration = 110; initialDepth = 2073.898151; finalDepth = 2072.390951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9395800000002 # Actual altitude: 80.9395800000002 # Commanded vehicle depth:2072.390951 # Seafloor depth:-2152.390951 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.76; 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 = 323.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.674084 meters # Minimum depth: 2153.898151 meters looking forward 200.000000 meters along route # Maximum depth: 2155.488148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.898151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988093; longitude = -129.080516; captureRadius = 10; duration = 110; initialDepth = 2073.869141; finalDepth = 2073.898151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2082780000001 # Actual altitude: 81.2082780000001 # Commanded vehicle depth:2073.898151 # Seafloor depth:-2155.106429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.83; 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 = 324.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 110.674084 meters # Minimum depth: 2153.869141 meters looking forward 200.000000 meters along route # Maximum depth: 2155.488148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.869141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988981; longitude = -129.079936; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2073.869141; finalDepth = 2073.869141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2082780000001 # Actual altitude: 81.2082780000001 # Commanded vehicle depth:2073.869141 # Seafloor depth:-2153.869141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.83; 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 = 324.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 110.674084 meters # Minimum depth: 2153.869141 meters looking forward 200.000000 meters along route # Maximum depth: 2161.048498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.869141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988994; longitude = -129.079847; captureRadius = 10; duration = 110; initialDepth = 2073.869141; finalDepth = 2073.869141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6446599999999 # Actual altitude: 80.6446599999999 # Commanded vehicle depth:2073.869141 # Seafloor depth:-2154.513801 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.58; 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 = 322.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 110.674084 meters # Minimum depth: 2153.869141 meters looking forward 200.000000 meters along route # Maximum depth: 2161.048498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.869141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989191; longitude = -129.078419; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2075.995420; finalDepth = 2073.869141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.977539 # Actual altitude: 86.977539 # Commanded vehicle depth:2073.869141 # Seafloor depth:-2160.846680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 347.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2155.995420 meters looking forward 200.000000 meters along route # Maximum depth: 2161.048498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.995420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989021; longitude = -129.078374; captureRadius = 10; duration = 110; initialDepth = 2072.978105; finalDepth = 2075.995420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.977539 # Actual altitude: 86.977539 # Commanded vehicle depth:2075.99542 # Seafloor depth:-2159.728887 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 347.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2152.978105 meters looking forward 200.000000 meters along route # Maximum depth: 2155.995420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.978105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988003; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2073.234941; finalDepth = 2072.978105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.733467 # Actual altitude: 83.733467 # Commanded vehicle depth:2072.978105 # Seafloor depth:-2152.978105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.93; 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 = 334.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2153.234941 meters looking forward 200.000000 meters along route # Maximum depth: 2155.588130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.234941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986985; longitude = -129.077839; captureRadius = 10; duration = 110; initialDepth = 2070.330840; finalDepth = 2073.234941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3531889999999 # Actual altitude: 82.3531889999999 # Commanded vehicle depth:2073.234941 # Seafloor depth:-2155.588130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.41; 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 = 329.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2150.330840 meters looking forward 200.000000 meters along route # Maximum depth: 2153.234941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.330840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985967; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2070.330840; finalDepth = 2070.330840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3531889999999 # Actual altitude: 82.3531889999999 # Commanded vehicle depth:2070.33084 # Seafloor depth:-2150.951606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.41; 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 = 329.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2150.330840 meters looking forward 200.000000 meters along route # Maximum depth: 2152.603682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.330840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984949; longitude = -129.077304; captureRadius = 10; duration = 110; initialDepth = 2072.603682; finalDepth = 2070.330840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1199659999997 # Actual altitude: 81.1199659999997 # Commanded vehicle depth:2070.33084 # Seafloor depth:-2151.450806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.48; 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 = 324.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2152.603682 meters looking forward 200.000000 meters along route # Maximum depth: 2154.237363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.603682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983931; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2074.237363; finalDepth = 2072.603682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3074409999999 # Actual altitude: 81.3074409999999 # Commanded vehicle depth:2072.603682 # Seafloor depth:-2153.911123 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.23; 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 = 325.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2154.237363 meters looking forward 200.000000 meters along route # Maximum depth: 2154.368311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.237363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982913; longitude = -129.076768; captureRadius = 10; duration = 110; initialDepth = 2074.368311; finalDepth = 2074.237363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3074409999999 # Actual altitude: 81.3074409999999 # Commanded vehicle depth:2074.237363 # Seafloor depth:-2154.349600 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.23; 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 = 325.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.674084 meters # Minimum depth: 2154.368311 meters looking forward 200.000000 meters along route # Maximum depth: 2162.397676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.368311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981895; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2080.189697; finalDepth = 2074.368311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0330949999998 # Actual altitude: 83.0330949999998 # Commanded vehicle depth:2074.368311 # Seafloor depth:-2157.401406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.13; 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 = 332.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 110.674084 meters # Minimum depth: 2160.189697 meters looking forward 200.000000 meters along route # Maximum depth: 2162.397676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.189697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980707; longitude = -129.076188; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2070.592258; finalDepth = 2080.189697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0330949999998 # Actual altitude: 83.0330949999998 # Commanded vehicle depth:2080.189697 # Seafloor depth:-2161.870443 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.13; 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 = 332.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 110.674084 meters # Minimum depth: 2150.592258 meters looking forward 200.000000 meters along route # Maximum depth: 2162.397676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.592258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981132; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2059.084337; finalDepth = 2070.592258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.712552 # Actual altitude: 88.712552 # Commanded vehicle depth:2070.592258 # Seafloor depth:-2159.304810 # 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 = 17.74; 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 65 # Segment length 110.674084 meters # Minimum depth: 2139.084337 meters looking forward 200.000000 meters along route # Maximum depth: 2158.029405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.084337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981731; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2047.977729; finalDepth = 2059.084337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.5573730000001 # Actual altitude: 90.5573730000001 # Commanded vehicle depth:2059.084337 # Seafloor depth:-2149.641710 # 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 65 # Segment length 110.674084 meters # Minimum depth: 2127.977729 meters looking forward 200.000000 meters along route # Maximum depth: 2148.439290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.977729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982331; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2047.977729; finalDepth = 2047.977729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.5573730000001 # Actual altitude: 90.5573730000001 # Commanded vehicle depth:2047.977729 # Seafloor depth:-2137.087972 # 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 65 # Segment length 110.674084 meters # Minimum depth: 2127.977729 meters looking forward 200.000000 meters along route # Maximum depth: 2134.753174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.977729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982930; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2048.403564; finalDepth = 2047.977729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1102429999996 # Actual altitude: 89.1102429999996 # Commanded vehicle depth:2047.977729 # Seafloor depth:-2128.147068 # 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 = 17.82; 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 65 # Segment length 110.674084 meters # Minimum depth: 2128.403564 meters looking forward 200.000000 meters along route # Maximum depth: 2132.653700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.403564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983530; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2051.000244; finalDepth = 2048.403564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0781529999999 # Actual altitude: 82.0781529999999 # Commanded vehicle depth:2048.403564 # Seafloor depth:-2130.481717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.31; 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 = 328.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 110.674084 meters # Minimum depth: 2131.000244 meters looking forward 200.000000 meters along route # Maximum depth: 2132.902262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.000244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984130; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2051.642339; finalDepth = 2051.000244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0781529999999 # Actual altitude: 82.0781529999999 # Commanded vehicle depth:2051.000244 # Seafloor depth:-2132.795044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.31; 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 = 328.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 110.674084 meters # Minimum depth: 2131.642339 meters looking forward 200.000000 meters along route # Maximum depth: 2132.902262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.642339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984754; longitude = -129.068961; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2049.738200; finalDepth = 2051.642339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7948000000001 # Actual altitude: 81.7948000000001 # Commanded vehicle depth:2051.642339 # Seafloor depth:-2131.935221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.18; 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 = 327.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2129.738200 meters looking forward 200.000000 meters along route # Maximum depth: 2132.759359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.738200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985176; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2049.738200; finalDepth = 2049.738200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5226170000001 # Actual altitude: 80.5226170000001 # Commanded vehicle depth:2049.7382 # Seafloor depth:-2130.260817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.09; 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 = 322.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2129.738200 meters looking forward 200.000000 meters along route # Maximum depth: 2134.036214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.738200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986124; longitude = -129.069541; captureRadius = 10; duration = 110; initialDepth = 2052.090983; finalDepth = 2049.738200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2528950000001 # Actual altitude: 81.2528950000001 # Commanded vehicle depth:2049.7382 # Seafloor depth:-2130.991095 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.01; 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 = 325.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2132.090983 meters looking forward 200.000000 meters along route # Maximum depth: 2141.656982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.090983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987072; longitude = -129.069943; captureRadius = 10; duration = 110; initialDepth = 2060.418201; finalDepth = 2052.090983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3910919999998 # Actual altitude: 85.3910919999998 # Commanded vehicle depth:2052.090983 # Seafloor depth:-2137.482075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2140.418201 meters looking forward 200.000000 meters along route # Maximum depth: 2145.387367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.418201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988020; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2063.937363; finalDepth = 2060.418201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3910919999998 # Actual altitude: 85.3910919999998 # Commanded vehicle depth:2060.418201 # Seafloor depth:-2142.657926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2143.937363 meters looking forward 200.000000 meters along route # Maximum depth: 2146.961163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.937363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988968; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2065.640999; finalDepth = 2063.937363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8544320000001 # Actual altitude: 82.8544320000001 # Commanded vehicle depth:2063.937363 # Seafloor depth:-2146.791795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.42; 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 = 331.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2145.640999 meters looking forward 200.000000 meters along route # Maximum depth: 2146.961163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.640999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989917; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2057.428588; finalDepth = 2065.640999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8544320000001 # Actual altitude: 82.8544320000001 # Commanded vehicle depth:2065.640999 # Seafloor depth:-2145.640999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.42; 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 = 331.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2137.428588 meters looking forward 200.000000 meters along route # Maximum depth: 2145.995257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.428588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990865; longitude = -129.071549; captureRadius = 10; duration = 110; initialDepth = 2053.777916; finalDepth = 2057.428588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.1058519999997 # Actual altitude: 87.1058519999997 # Commanded vehicle depth:2057.428588 # Seafloor depth:-2144.534440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.42; MB_Bottom_Detect_Filter_Max_Range = 348.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2133.777916 meters looking forward 200.000000 meters along route # Maximum depth: 2141.034284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.777916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991813; longitude = -129.071950; captureRadius = 10; duration = 110; initialDepth = 2053.007131; finalDepth = 2053.777916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.1058519999997 # Actual altitude: 87.1058519999997 # Commanded vehicle depth:2053.777916 # Seafloor depth:-2136.197177 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.42; MB_Bottom_Detect_Filter_Max_Range = 348.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2133.007131 meters looking forward 200.000000 meters along route # Maximum depth: 2135.043620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.007131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992761; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2053.007131; finalDepth = 2053.007131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.419261 # Actual altitude: 82.419261 # Commanded vehicle depth:2053.007131 # Seafloor depth:-2134.004536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.68; 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 = 329.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2133.007131 meters looking forward 200.000000 meters along route # Maximum depth: 2140.880566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.007131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993710; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2060.880566; finalDepth = 2053.007131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2887330000003 # Actual altitude: 81.2887330000003 # Commanded vehicle depth:2053.007131 # Seafloor depth:-2134.295864 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.15; 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 = 325.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.674084 meters # Minimum depth: 2140.880566 meters looking forward 200.000000 meters along route # Maximum depth: 2159.330439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.880566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994658; longitude = -129.073155; captureRadius = 10; duration = 110; initialDepth = 2065.039309; finalDepth = 2060.880566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.158743 # Actual altitude: 84.158743 # Commanded vehicle depth:2060.880566 # Seafloor depth:-2145.039309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.63; 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 = 336.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 110.674084 meters # Minimum depth: 2145.039309 meters looking forward 200.000000 meters along route # Maximum depth: 2163.468099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.039309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995817; longitude = -129.073646; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2079.330439; finalDepth = 2065.039309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.4287900000004 # Actual altitude: 98.4287900000004 # Commanded vehicle depth:2065.039309 # Seafloor depth:-2163.468099 # 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 = 19.69; 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 63 # Segment length 110.674084 meters # Minimum depth: 2159.330439 meters looking forward 200.000000 meters along route # Maximum depth: 2166.237703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.330439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995947; longitude = -129.073021; captureRadius = 10; duration = 110; initialDepth = 2083.271526; finalDepth = 2079.330439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.4287900000004 # Actual altitude: 98.4287900000004 # Commanded vehicle depth:2079.330439 # Seafloor depth:-2162.951272 # 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 = 19.69; 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 63 # Segment length 110.674084 meters # Minimum depth: 2163.271526 meters looking forward 200.000000 meters along route # Maximum depth: 2170.855439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.271526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996225; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2086.778166; finalDepth = 2083.271526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6208329999999 # Actual altitude: 83.6208329999999 # Commanded vehicle depth:2083.271526 # Seafloor depth:-2166.457113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.48; 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 = 334.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 110.674084 meters # Minimum depth: 2166.778166 meters looking forward 200.000000 meters along route # Maximum depth: 2173.602214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.778166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996503; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2089.929952; finalDepth = 2086.778166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6413589999997 # Actual altitude: 84.6413589999997 # Commanded vehicle depth:2086.778166 # Seafloor depth:-2171.419525 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.57; 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 = 338.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 110.674084 meters # Minimum depth: 2169.929952 meters looking forward 200.000000 meters along route # Maximum depth: 2173.602214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.929952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996781; longitude = -129.069006; captureRadius = 10; duration = 110; initialDepth = 2081.889045; finalDepth = 2089.929952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6413589999997 # Actual altitude: 84.6413589999997 # Commanded vehicle depth:2089.929952 # Seafloor depth:-2172.428961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.57; 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 = 338.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 110.674084 meters # Minimum depth: 2161.889045 meters looking forward 200.000000 meters along route # Maximum depth: 2171.795247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.889045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997059; longitude = -129.067668; captureRadius = 10; duration = 110; initialDepth = 2081.839459; finalDepth = 2081.889045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.326305 # Actual altitude: 87.326305 # Commanded vehicle depth:2081.889045 # Seafloor depth:-2169.215350 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.47; MB_Bottom_Detect_Filter_Max_Range = 349.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 110.674084 meters # Minimum depth: 2161.839459 meters looking forward 200.000000 meters along route # Maximum depth: 2169.920025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.839459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997346; longitude = -129.066285; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.839459; finalDepth = 2081.839459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.326305 # Actual altitude: 87.326305 # Commanded vehicle depth:2081.839459 # Seafloor depth:-2161.874349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.47; MB_Bottom_Detect_Filter_Max_Range = 349.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 110.674084 meters # Minimum depth: 2161.839459 meters looking forward 200.000000 meters along route # Maximum depth: 2172.854953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.839459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997425; longitude = -129.065125; captureRadius = 10; duration = 110; initialDepth = 2085.442871; finalDepth = 2081.839459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2173390000003 # Actual altitude: 89.2173390000003 # Commanded vehicle depth:2081.839459 # Seafloor depth:-2171.056798 # 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 = 17.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 110.674084 meters # Minimum depth: 2165.442871 meters looking forward 200.000000 meters along route # Maximum depth: 2172.854953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.442871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997517; longitude = -129.063786; captureRadius = 10; duration = 110; initialDepth = 2080.953587; finalDepth = 2085.442871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2173390000003 # Actual altitude: 89.2173390000003 # Commanded vehicle depth:2085.442871 # Seafloor depth:-2171.555987 # 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 = 17.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 110.674084 meters # Minimum depth: 2160.953587 meters looking forward 200.000000 meters along route # Maximum depth: 2171.214925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.953587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997608; longitude = -129.062448; captureRadius = 10; duration = 110; initialDepth = 2077.188094; finalDepth = 2080.953587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.113116 # Actual altitude: 86.113116 # Commanded vehicle depth:2080.953587 # Seafloor depth:-2164.341962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 344.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 110.674084 meters # Minimum depth: 2157.188094 meters looking forward 200.000000 meters along route # Maximum depth: 2163.441573 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.188094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997699; longitude = -129.061110; captureRadius = 10; duration = 110; initialDepth = 2076.557900; finalDepth = 2077.188094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5495430000001 # Actual altitude: 83.5495430000001 # Commanded vehicle depth:2077.188094 # Seafloor depth:-2160.737637 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.20; 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 = 334.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 110.674084 meters # Minimum depth: 2156.557900 meters looking forward 200.000000 meters along route # Maximum depth: 2160.448329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.557900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997791; longitude = -129.059771; captureRadius = 10; duration = 110; initialDepth = 2076.557900; finalDepth = 2076.557900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5495430000001 # Actual altitude: 83.5495430000001 # Commanded vehicle depth:2076.5579 # Seafloor depth:-2156.991564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.20; 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 = 334.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 110.674084 meters # Minimum depth: 2156.557900 meters looking forward 200.000000 meters along route # Maximum depth: 2159.897609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.557900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997885; longitude = -129.058388; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2073.424579; finalDepth = 2076.557900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6317160000003 # Actual altitude: 82.6317160000003 # Commanded vehicle depth:2076.5579 # Seafloor depth:-2159.189616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2153.424579 meters looking forward 200.000000 meters along route # Maximum depth: 2159.189616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.424579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997814; longitude = -129.058433; captureRadius = 10; duration = 110; initialDepth = 2067.208815; finalDepth = 2073.424579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7502260000001 # Actual altitude: 84.7502260000001 # Commanded vehicle depth:2073.424579 # Seafloor depth:-2158.174805 # 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 61 # Segment length 110.674084 meters # Minimum depth: 2147.208815 meters looking forward 200.000000 meters along route # Maximum depth: 2156.111967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.208815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996956; longitude = -129.058968; captureRadius = 10; duration = 110; initialDepth = 2063.757775; finalDepth = 2067.208815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7502260000001 # Actual altitude: 84.7502260000001 # Commanded vehicle depth:2067.208815 # Seafloor depth:-2151.801270 # 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 61 # Segment length 110.674084 meters # Minimum depth: 2143.757775 meters looking forward 200.000000 meters along route # Maximum depth: 2150.386925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.757775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996098; longitude = -129.059504; captureRadius = 10; duration = 110; initialDepth = 2061.345910; finalDepth = 2063.757775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.592455 # Actual altitude: 84.592455 # Commanded vehicle depth:2063.757775 # Seafloor depth:-2146.190617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 338.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2141.345910 meters looking forward 200.000000 meters along route # Maximum depth: 2145.134578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.345910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995240; longitude = -129.060039; captureRadius = 10; duration = 110; initialDepth = 2056.659105; finalDepth = 2061.345910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0794959999998 # Actual altitude: 83.0794959999998 # Commanded vehicle depth:2061.34591 # Seafloor depth:-2144.425406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2136.659105 meters looking forward 200.000000 meters along route # Maximum depth: 2143.988187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.659105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994382; longitude = -129.060574; captureRadius = 10; duration = 110; initialDepth = 2055.382456; finalDepth = 2056.659105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.741098 # Actual altitude: 83.741098 # Commanded vehicle depth:2056.659105 # Seafloor depth:-2140.400203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.96; 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 = 334.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2135.382456 meters looking forward 200.000000 meters along route # Maximum depth: 2139.640381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.382456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993524; longitude = -129.061110; captureRadius = 10; duration = 110; initialDepth = 2055.382456; finalDepth = 2055.382456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.741098 # Actual altitude: 83.741098 # Commanded vehicle depth:2055.382456 # Seafloor depth:-2135.665283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.96; 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 = 334.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2135.382456 meters looking forward 200.000000 meters along route # Maximum depth: 2137.021973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.382456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992667; longitude = -129.061645; captureRadius = 10; duration = 110; initialDepth = 2056.549542; finalDepth = 2055.382456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.448711 # Actual altitude: 81.448711 # Commanded vehicle depth:2055.382456 # Seafloor depth:-2136.831167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.79; 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 = 325.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2136.549542 meters looking forward 200.000000 meters along route # Maximum depth: 2139.584736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.549542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991809; longitude = -129.062180; captureRadius = 10; duration = 110; initialDepth = 2057.575853; finalDepth = 2056.549542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.448711 # Actual altitude: 81.448711 # Commanded vehicle depth:2056.549542 # Seafloor depth:-2136.867225 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.79; 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 = 325.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2137.575853 meters looking forward 200.000000 meters along route # Maximum depth: 2139.584736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.575853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990951; longitude = -129.062716; captureRadius = 10; duration = 110; initialDepth = 2055.417424; finalDepth = 2057.575853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4325790000003 # Actual altitude: 81.4325790000003 # Commanded vehicle depth:2057.575853 # Seafloor depth:-2139.008432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.73; 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 = 325.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2135.417424 meters looking forward 200.000000 meters along route # Maximum depth: 2138.704928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.417424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990093; longitude = -129.063251; captureRadius = 10; duration = 110; initialDepth = 2054.208496; finalDepth = 2055.417424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1738659999996 # Actual altitude: 83.1738659999996 # Commanded vehicle depth:2055.417424 # Seafloor depth:-2138.591290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2134.208496 meters looking forward 200.000000 meters along route # Maximum depth: 2137.554725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.208496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989235; longitude = -129.063786; captureRadius = 10; duration = 110; initialDepth = 2050.043457; finalDepth = 2054.208496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1738659999996 # Actual altitude: 83.1738659999996 # Commanded vehicle depth:2054.208496 # Seafloor depth:-2134.921612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2130.043457 meters looking forward 200.000000 meters along route # Maximum depth: 2134.626521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.043457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988377; longitude = -129.064322; captureRadius = 10; duration = 110; initialDepth = 2048.829496; finalDepth = 2050.043457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.049035 # Actual altitude: 83.049035 # Commanded vehicle depth:2050.043457 # Seafloor depth:-2133.092492 # 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 61 # Segment length 110.674084 meters # Minimum depth: 2128.829496 meters looking forward 200.000000 meters along route # Maximum depth: 2131.917311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.829496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987519; longitude = -129.064857; captureRadius = 10; duration = 110; initialDepth = 2045.737831; finalDepth = 2048.829496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.049035 # Actual altitude: 83.049035 # Commanded vehicle depth:2048.829496 # Seafloor depth:-2129.160325 # 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 61 # Segment length 110.674084 meters # Minimum depth: 2125.737831 meters looking forward 200.000000 meters along route # Maximum depth: 2128.905480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.737831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986661; longitude = -129.065392; captureRadius = 10; duration = 110; initialDepth = 2043.589149; finalDepth = 2045.737831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.794903 # Actual altitude: 82.794903 # Commanded vehicle depth:2045.737831 # Seafloor depth:-2128.532734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 331.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.674084 meters # Minimum depth: 2123.589149 meters looking forward 200.000000 meters along route # Maximum depth: 2127.715013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.589149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985803; longitude = -129.065928; captureRadius = 10; duration = 110; initialDepth = 2043.458008; finalDepth = 2043.589149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.794903 # Actual altitude: 82.794903 # Commanded vehicle depth:2043.589149 # Seafloor depth:-2124.749268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 331.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 110.674084 meters # Minimum depth: 2123.458008 meters looking forward 200.000000 meters along route # Maximum depth: 2126.621338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.458008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984874; longitude = -129.066508; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2043.458008; finalDepth = 2043.458008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1601190000001 # Actual altitude: 81.1601190000001 # Commanded vehicle depth:2043.458008 # Seafloor depth:-2123.458008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.64; 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 = 324.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 110.674084 meters # Minimum depth: 2123.458008 meters looking forward 200.000000 meters along route # Maximum depth: 2129.178589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.458008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984974; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2043.458008; finalDepth = 2043.458008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2992079999999 # Actual altitude: 82.2992079999999 # Commanded vehicle depth:2043.458008 # Seafloor depth:-2125.757216 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.20; 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 = 329.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 110.674084 meters # Minimum depth: 2123.458008 meters looking forward 200.000000 meters along route # Maximum depth: 2129.178589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.458008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985324; longitude = -129.068114; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2047.528024; finalDepth = 2043.458008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3779300000001 # Actual altitude: 85.3779300000001 # Commanded vehicle depth:2043.458008 # Seafloor depth:-2128.835938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2127.528024 meters looking forward 200.000000 meters along route # Maximum depth: 2129.178589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.528024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985602; longitude = -129.067935; captureRadius = 10; duration = 110; initialDepth = 2047.528024; finalDepth = 2047.528024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3779300000001 # Actual altitude: 85.3779300000001 # Commanded vehicle depth:2047.528024 # Seafloor depth:-2128.335940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2127.528024 meters looking forward 200.000000 meters along route # Maximum depth: 2129.944585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.528024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986438; longitude = -129.067400; captureRadius = 10; duration = 110; initialDepth = 2048.265061; finalDepth = 2047.528024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8079159999998 # Actual altitude: 80.8079159999998 # Commanded vehicle depth:2047.528024 # Seafloor depth:-2127.944283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.23; 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 = 323.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2128.265061 meters looking forward 200.000000 meters along route # Maximum depth: 2131.859362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.265061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987273; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2051.271855; finalDepth = 2048.265061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8906510000002 # Actual altitude: 82.8906510000002 # Commanded vehicle depth:2048.265061 # Seafloor depth:-2131.155712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.56; 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 = 331.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2131.271855 meters looking forward 200.000000 meters along route # Maximum depth: 2132.765394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.271855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988109; longitude = -129.066329; captureRadius = 10; duration = 110; initialDepth = 2051.555743; finalDepth = 2051.271855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8906510000002 # Actual altitude: 82.8906510000002 # Commanded vehicle depth:2051.271855 # Seafloor depth:-2131.271855 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.56; 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 = 331.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2131.555743 meters looking forward 200.000000 meters along route # Maximum depth: 2133.966450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.555743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988945; longitude = -129.065794; captureRadius = 10; duration = 110; initialDepth = 2053.747341; finalDepth = 2051.555743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7081000000003 # Actual altitude: 81.7081000000003 # Commanded vehicle depth:2051.555743 # Seafloor depth:-2133.263843 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.83; 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 = 326.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2133.747341 meters looking forward 200.000000 meters along route # Maximum depth: 2137.515798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.747341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989780; longitude = -129.065259; captureRadius = 10; duration = 110; initialDepth = 2054.736515; finalDepth = 2053.747341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7081000000003 # Actual altitude: 81.7081000000003 # Commanded vehicle depth:2053.747341 # Seafloor depth:-2133.961599 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.83; 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 = 326.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2134.736515 meters looking forward 200.000000 meters along route # Maximum depth: 2138.425989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.736515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990616; longitude = -129.064723; captureRadius = 10; duration = 110; initialDepth = 2057.673482; finalDepth = 2054.736515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6894739999998 # Actual altitude: 83.6894739999998 # Commanded vehicle depth:2054.736515 # Seafloor depth:-2138.425989 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 334.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2137.673482 meters looking forward 200.000000 meters along route # Maximum depth: 2140.067737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.673482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991451; longitude = -129.064188; captureRadius = 10; duration = 110; initialDepth = 2058.807444; finalDepth = 2057.673482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6894739999998 # Actual altitude: 83.6894739999998 # Commanded vehicle depth:2057.673482 # Seafloor depth:-2138.335376 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 334.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2138.807444 meters looking forward 200.000000 meters along route # Maximum depth: 2140.385196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.807444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992287; longitude = -129.063653; captureRadius = 10; duration = 110; initialDepth = 2059.601486; finalDepth = 2058.807444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.071473 # Actual altitude: 81.071473 # Commanded vehicle depth:2058.807444 # Seafloor depth:-2139.878917 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2139.601486 meters looking forward 200.000000 meters along route # Maximum depth: 2141.852526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.601486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993122; longitude = -129.063117; captureRadius = 10; duration = 110; initialDepth = 2061.497698; finalDepth = 2059.601486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8462989999998 # Actual altitude: 81.8462989999998 # Commanded vehicle depth:2059.601486 # Seafloor depth:-2141.447785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.39; 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 = 327.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2141.497698 meters looking forward 200.000000 meters along route # Maximum depth: 2144.374443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.497698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993958; longitude = -129.062582; captureRadius = 10; duration = 110; initialDepth = 2062.519342; finalDepth = 2061.497698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8462989999998 # Actual altitude: 81.8462989999998 # Commanded vehicle depth:2061.497698 # Seafloor depth:-2142.210856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.39; 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 = 327.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2142.519342 meters looking forward 200.000000 meters along route # Maximum depth: 2147.578078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.519342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994794; longitude = -129.062047; captureRadius = 10; duration = 110; initialDepth = 2066.091894; finalDepth = 2062.519342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8679200000001 # Actual altitude: 82.8679200000001 # Commanded vehicle depth:2062.519342 # Seafloor depth:-2145.387262 # 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 59 # Segment length 110.674084 meters # Minimum depth: 2146.091894 meters looking forward 200.000000 meters along route # Maximum depth: 2150.514851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.091894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995629; longitude = -129.061511; captureRadius = 10; duration = 110; initialDepth = 2069.978592; finalDepth = 2066.091894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9538339999999 # Actual altitude: 82.9538339999999 # Commanded vehicle depth:2066.091894 # Seafloor depth:-2149.045728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.82; 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 = 331.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2149.978592 meters looking forward 200.000000 meters along route # Maximum depth: 2153.512816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.978592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996465; longitude = -129.060976; captureRadius = 10; duration = 110; initialDepth = 2071.451322; finalDepth = 2069.978592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9538339999999 # Actual altitude: 82.9538339999999 # Commanded vehicle depth:2069.978592 # Seafloor depth:-2151.004465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.82; 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 = 331.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.674084 meters # Minimum depth: 2151.451322 meters looking forward 200.000000 meters along route # Maximum depth: 2159.204863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.451322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997300; longitude = -129.060440; captureRadius = 10; duration = 110; initialDepth = 2072.130413; finalDepth = 2071.451322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8743720000002 # Actual altitude: 83.8743720000002 # Commanded vehicle depth:2071.451322 # Seafloor depth:-2155.325694 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 335.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 110.674084 meters # Minimum depth: 2152.130413 meters looking forward 200.000000 meters along route # Maximum depth: 2160.103271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.130413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998275; longitude = -129.059816; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2077.407673; finalDepth = 2072.130413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.722777 # Actual altitude: 87.722777 # Commanded vehicle depth:2072.130413 # Seafloor depth:-2159.853190 # 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 58 # Segment length 110.674084 meters # Minimum depth: 2157.407673 meters looking forward 200.000000 meters along route # Maximum depth: 2169.847412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.407673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998350; longitude = -129.060039; captureRadius = 10; duration = 110; initialDepth = 2080.416504; finalDepth = 2077.407673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.722777 # Actual altitude: 87.722777 # Commanded vehicle depth:2077.407673 # Seafloor depth:-2160.416504 # 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 to get to end of line 57 # Segment length 110.674084 meters # Minimum depth: 2160.416504 meters looking forward 200.000000 meters along route # Maximum depth: 2170.913411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.416504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998785; longitude = -129.061333; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.965862; finalDepth = 2080.416504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.4969070000002 # Actual altitude: 90.4969070000002 # Commanded vehicle depth:2080.416504 # Seafloor depth:-2170.913411 # 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 = 18.10; 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 57 # Segment length 110.674084 meters # Minimum depth: 2161.965862 meters looking forward 200.000000 meters along route # Maximum depth: 2170.913411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.965862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998077; longitude = -129.061779; captureRadius = 10; duration = 110; initialDepth = 2081.965862; finalDepth = 2081.965862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.4969070000002 # Actual altitude: 90.4969070000002 # Commanded vehicle depth:2081.965862 # Seafloor depth:-2165.616913 # 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 = 18.10; 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 57 # Segment length 110.674084 meters # Minimum depth: 2161.965862 meters looking forward 200.000000 meters along route # Maximum depth: 2164.355461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.965862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997227; longitude = -129.062314; captureRadius = 10; duration = 110; initialDepth = 2083.273300; finalDepth = 2081.965862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6510509999998 # Actual altitude: 83.6510509999998 # Commanded vehicle depth:2081.965862 # Seafloor depth:-2162.842480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.73; MB_Bottom_Detect_Filter_Max_Range = 334.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2163.273300 meters looking forward 200.000000 meters along route # Maximum depth: 2164.468386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.273300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996377; longitude = -129.062850; captureRadius = 10; duration = 110; initialDepth = 2081.296651; finalDepth = 2083.273300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1950860000002 # Actual altitude: 81.1950860000002 # Commanded vehicle depth:2083.2733 # Seafloor depth:-2164.468386 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.78; 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 = 324.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2161.296651 meters looking forward 200.000000 meters along route # Maximum depth: 2164.106228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.296651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995527; longitude = -129.063385; captureRadius = 10; duration = 110; initialDepth = 2079.379183; finalDepth = 2081.296651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1789329999997 # Actual altitude: 82.1789329999997 # Commanded vehicle depth:2081.296651 # Seafloor depth:-2163.475584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.72; 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 = 328.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2159.379183 meters looking forward 200.000000 meters along route # Maximum depth: 2163.238690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.379183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994677; longitude = -129.063920; captureRadius = 10; duration = 110; initialDepth = 2073.760814; finalDepth = 2079.379183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1789329999997 # Actual altitude: 82.1789329999997 # Commanded vehicle depth:2079.379183 # Seafloor depth:-2160.433685 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.72; 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 = 328.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2153.760814 meters looking forward 200.000000 meters along route # Maximum depth: 2159.756577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.760814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993827; longitude = -129.064456; captureRadius = 10; duration = 110; initialDepth = 2073.149875; finalDepth = 2073.760814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6746309999999 # Actual altitude: 85.6746309999999 # Commanded vehicle depth:2073.760814 # Seafloor depth:-2159.435445 # 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 = 17.13; 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 57 # Segment length 110.674084 meters # Minimum depth: 2153.149875 meters looking forward 200.000000 meters along route # Maximum depth: 2157.316683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.149875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992977; longitude = -129.064991; captureRadius = 10; duration = 110; initialDepth = 2072.448503; finalDepth = 2073.149875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6746309999999 # Actual altitude: 85.6746309999999 # Commanded vehicle depth:2073.149875 # Seafloor depth:-2153.738129 # 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 = 17.13; 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 57 # Segment length 110.674084 meters # Minimum depth: 2152.448503 meters looking forward 200.000000 meters along route # Maximum depth: 2154.006989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.448503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992127; longitude = -129.065526; captureRadius = 10; duration = 110; initialDepth = 2059.183634; finalDepth = 2072.448503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5882539999998 # Actual altitude: 80.5882539999998 # Commanded vehicle depth:2072.448503 # Seafloor depth:-2152.753790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.35; 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 = 322.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2139.183634 meters looking forward 200.000000 meters along route # Maximum depth: 2152.622538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.183634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991277; longitude = -129.066062; captureRadius = 10; duration = 110; initialDepth = 2049.819875; finalDepth = 2059.183634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.7883959999999 # Actual altitude: 91.7883959999999 # Commanded vehicle depth:2059.183634 # Seafloor depth:-2150.972030 # 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 = 18.36; 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; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2129.819875 meters looking forward 200.000000 meters along route # Maximum depth: 2147.632317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.819875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990427; longitude = -129.066597; captureRadius = 10; duration = 110; initialDepth = 2048.443573; finalDepth = 2049.819875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.7883959999999 # Actual altitude: 91.7883959999999 # Commanded vehicle depth:2049.819875 # Seafloor depth:-2135.002875 # 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 = 18.36; 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; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2128.443573 meters looking forward 200.000000 meters along route # Maximum depth: 2132.837934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.443573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989577; longitude = -129.067132; captureRadius = 10; duration = 110; initialDepth = 2048.790235; finalDepth = 2048.443573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.183 # Actual altitude: 85.183 # Commanded vehicle depth:2048.443573 # Seafloor depth:-2128.443573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 340.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2128.790235 meters looking forward 200.000000 meters along route # Maximum depth: 2137.005927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.790235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988727; longitude = -129.067668; captureRadius = 10; duration = 110; initialDepth = 2052.791662; finalDepth = 2048.790235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2750500000002 # Actual altitude: 86.2750500000002 # Commanded vehicle depth:2048.790235 # Seafloor depth:-2135.065285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 345.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2132.791662 meters looking forward 200.000000 meters along route # Maximum depth: 2137.005927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.791662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987877; longitude = -129.068203; captureRadius = 10; duration = 110; initialDepth = 2051.430344; finalDepth = 2052.791662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2750500000002 # Actual altitude: 86.2750500000002 # Commanded vehicle depth:2052.791662 # Seafloor depth:-2136.532056 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 345.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2131.430344 meters looking forward 200.000000 meters along route # Maximum depth: 2135.388732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.430344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987027; longitude = -129.068738; captureRadius = 10; duration = 110; initialDepth = 2050.026802; finalDepth = 2051.430344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7403939999999 # Actual altitude: 83.7403939999999 # Commanded vehicle depth:2051.430344 # Seafloor depth:-2132.019377 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.96; 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 = 334.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2130.026802 meters looking forward 200.000000 meters along route # Maximum depth: 2131.599426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.026802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986177; longitude = -129.069274; captureRadius = 10; duration = 110; initialDepth = 2050.026802; finalDepth = 2050.026802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7516439999999 # Actual altitude: 80.7516439999999 # Commanded vehicle depth:2050.026802 # Seafloor depth:-2130.778446 # 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 57 # Segment length 110.674084 meters # Minimum depth: 2130.026802 meters looking forward 200.000000 meters along route # Maximum depth: 2131.795341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.026802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985327; longitude = -129.069809; captureRadius = 10; duration = 110; initialDepth = 2051.333687; finalDepth = 2050.026802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7516439999999 # Actual altitude: 80.7516439999999 # Commanded vehicle depth:2050.026802 # Seafloor depth:-2130.511841 # 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 57 # Segment length 110.674084 meters # Minimum depth: 2131.333687 meters looking forward 200.000000 meters along route # Maximum depth: 2131.859701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.333687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984478; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2049.917332; finalDepth = 2051.333687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4850390000001 # Actual altitude: 80.4850390000001 # Commanded vehicle depth:2051.333687 # Seafloor depth:-2131.653341 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.94; 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 = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2129.917332 meters looking forward 200.000000 meters along route # Maximum depth: 2131.859701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.917332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983628; longitude = -129.070880; captureRadius = 10; duration = 110; initialDepth = 2049.511416; finalDepth = 2049.917332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4296939999999 # Actual altitude: 81.4296939999999 # Commanded vehicle depth:2049.917332 # Seafloor depth:-2131.347026 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.72; 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 = 325.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.674084 meters # Minimum depth: 2129.511416 meters looking forward 200.000000 meters along route # Maximum depth: 2130.782682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.511416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982778; longitude = -129.071415; captureRadius = 10; duration = 110; initialDepth = 2048.042236; finalDepth = 2049.511416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4296939999999 # Actual altitude: 81.4296939999999 # Commanded vehicle depth:2049.511416 # Seafloor depth:-2130.217969 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.72; 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 = 325.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 110.674084 meters # Minimum depth: 2128.042236 meters looking forward 200.000000 meters along route # Maximum depth: 2130.714860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.042236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981786; longitude = -129.072040; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2046.148193; finalDepth = 2048.042236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.706553 # Actual altitude: 80.706553 # Commanded vehicle depth:2048.042236 # Seafloor depth:-2128.372070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 322.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 110.674084 meters # Minimum depth: 2126.148193 meters looking forward 200.000000 meters along route # Maximum depth: 2130.714860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.148193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981666; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2046.148193; finalDepth = 2046.148193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9899909999999 # Actual altitude: 80.9899909999999 # Commanded vehicle depth:2046.148193 # Seafloor depth:-2127.138184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 323.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 110.674084 meters # Minimum depth: 2126.148193 meters looking forward 200.000000 meters along route # Maximum depth: 2128.372070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.148193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980977; longitude = -129.073244; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2049.273054; finalDepth = 2046.148193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9899909999999 # Actual altitude: 80.9899909999999 # Commanded vehicle depth:2046.148193 # Seafloor depth:-2126.725586 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 323.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 110.674084 meters # Minimum depth: 2129.273054 meters looking forward 200.000000 meters along route # Maximum depth: 2132.149902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.273054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981551; longitude = -129.073155; captureRadius = 10; duration = 110; initialDepth = 2049.273054; finalDepth = 2049.273054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.577393 # Actual altitude: 80.577393 # Commanded vehicle depth:2049.273054 # Seafloor depth:-2129.273054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.31; 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 = 322.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 110.674084 meters # Minimum depth: 2129.273054 meters looking forward 200.000000 meters along route # Maximum depth: 2134.333333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.273054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982985; longitude = -129.072932; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2051.831696; finalDepth = 2049.273054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0602790000003 # Actual altitude: 85.0602790000003 # Commanded vehicle depth:2049.273054 # Seafloor depth:-2134.333333 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 340.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2132.149902 meters looking forward 200.000000 meters along route # Maximum depth: 2134.333333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.831696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983056; longitude = -129.072887; captureRadius = 10; duration = 110; initialDepth = 2052.192202; finalDepth = 2051.831696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0602790000003 # Actual altitude: 85.0602790000003 # Commanded vehicle depth:2051.8316961 # Seafloor depth:-2133.931681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 340.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2132.192202 meters looking forward 200.000000 meters along route # Maximum depth: 2136.716243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.192202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983904; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2054.758904; finalDepth = 2052.192202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0999848999995 # Actual altitude: 82.0999848999995 # Commanded vehicle depth:2052.192202 # Seafloor depth:-2133.207263 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.40; 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 = 328.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2134.758904 meters looking forward 200.000000 meters along route # Maximum depth: 2137.001295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.758904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984752; longitude = -129.071817; captureRadius = 10; duration = 110; initialDepth = 2055.622752; finalDepth = 2054.758904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1228580000002 # Actual altitude: 82.1228580000002 # Commanded vehicle depth:2054.758904 # Seafloor depth:-2136.881762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.49; 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 = 328.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2135.622752 meters looking forward 200.000000 meters along route # Maximum depth: 2138.968018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.622752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985599; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2055.867867; finalDepth = 2055.622752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1228580000002 # Actual altitude: 82.1228580000002 # Commanded vehicle depth:2055.622752 # Seafloor depth:-2135.622752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.49; 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 = 328.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2135.867867 meters looking forward 200.000000 meters along route # Maximum depth: 2143.049618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.867867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986447; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2059.802023; finalDepth = 2055.867867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5478940000003 # Actual altitude: 84.5478940000003 # Commanded vehicle depth:2055.867867 # Seafloor depth:-2140.415761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2139.802023 meters looking forward 200.000000 meters along route # Maximum depth: 2143.049618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.802023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987295; longitude = -129.070210; captureRadius = 10; duration = 110; initialDepth = 2059.802023; finalDepth = 2059.802023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5478940000003 # Actual altitude: 84.5478940000003 # Commanded vehicle depth:2059.802023 # Seafloor depth:-2141.932528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2139.802023 meters looking forward 200.000000 meters along route # Maximum depth: 2143.567534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.802023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988143; longitude = -129.069675; captureRadius = 10; duration = 110; initialDepth = 2061.871391; finalDepth = 2059.802023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1305049999996 # Actual altitude: 82.1305049999996 # Commanded vehicle depth:2059.802023 # Seafloor depth:-2140.735691 # 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 54 # Segment length 110.674084 meters # Minimum depth: 2141.871391 meters looking forward 200.000000 meters along route # Maximum depth: 2143.567534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.871391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988990; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2060.090780; finalDepth = 2061.871391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9336679999997 # Actual altitude: 80.9336679999997 # Commanded vehicle depth:2061.871391 # Seafloor depth:-2142.482517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.73; 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 = 323.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2140.090780 meters looking forward 200.000000 meters along route # Maximum depth: 2142.258343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.090780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989838; longitude = -129.068604; captureRadius = 10; duration = 110; initialDepth = 2060.090780; finalDepth = 2060.090780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.895673 # Actual altitude: 80.895673 # Commanded vehicle depth:2060.09078 # Seafloor depth:-2140.986453 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.58; 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 = 323.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2140.090780 meters looking forward 200.000000 meters along route # Maximum depth: 2148.021253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.090780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990686; longitude = -129.068069; captureRadius = 10; duration = 110; initialDepth = 2063.496992; finalDepth = 2060.090780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6259679999998 # Actual altitude: 81.6259679999998 # Commanded vehicle depth:2060.09078 # Seafloor depth:-2141.716748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2143.496992 meters looking forward 200.000000 meters along route # Maximum depth: 2155.742633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.496992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991534; longitude = -129.067534; captureRadius = 10; duration = 110; initialDepth = 2073.367911; finalDepth = 2063.496992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4508700000001 # Actual altitude: 87.4508700000001 # Commanded vehicle depth:2063.496992 # Seafloor depth:-2150.947862 # 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 54 # Segment length 110.674084 meters # Minimum depth: 2153.367911 meters looking forward 200.000000 meters along route # Maximum depth: 2158.895750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.367911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992382; longitude = -129.066998; captureRadius = 10; duration = 110; initialDepth = 2077.754838; finalDepth = 2073.367911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4508700000001 # Actual altitude: 87.4508700000001 # Commanded vehicle depth:2073.367911 # Seafloor depth:-2156.863716 # 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 54 # Segment length 110.674084 meters # Minimum depth: 2157.754838 meters looking forward 200.000000 meters along route # Maximum depth: 2158.986795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.754838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993229; longitude = -129.066463; captureRadius = 10; duration = 110; initialDepth = 2077.901904; finalDepth = 2077.754838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.495805 # Actual altitude: 83.495805 # Commanded vehicle depth:2077.754838 # Seafloor depth:-2158.986795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 333.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2157.901904 meters looking forward 200.000000 meters along route # Maximum depth: 2161.562895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.901904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994077; longitude = -129.065928; captureRadius = 10; duration = 110; initialDepth = 2080.942457; finalDepth = 2077.901904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7723760000003 # Actual altitude: 81.7723760000003 # Commanded vehicle depth:2077.901904 # Seafloor depth:-2159.674280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 327.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2160.942457 meters looking forward 200.000000 meters along route # Maximum depth: 2163.868682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.942457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994925; longitude = -129.065392; captureRadius = 10; duration = 110; initialDepth = 2082.622115; finalDepth = 2080.942457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7723760000003 # Actual altitude: 81.7723760000003 # Commanded vehicle depth:2080.942457 # Seafloor depth:-2162.126522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 327.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2162.622115 meters looking forward 200.000000 meters along route # Maximum depth: 2167.223845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.622115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995773; longitude = -129.064857; captureRadius = 10; duration = 110; initialDepth = 2086.640527; finalDepth = 2082.622115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0459089999999 # Actual altitude: 83.0459089999999 # Commanded vehicle depth:2082.622115 # Seafloor depth:-2165.668024 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.18; 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 = 332.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2166.640527 meters looking forward 200.000000 meters along route # Maximum depth: 2170.779732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.640527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996621; longitude = -129.064322; captureRadius = 10; duration = 110; initialDepth = 2089.410063; finalDepth = 2086.640527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0459089999999 # Actual altitude: 83.0459089999999 # Commanded vehicle depth:2086.640527 # Seafloor depth:-2168.251229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.18; 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 = 332.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2169.410063 meters looking forward 200.000000 meters along route # Maximum depth: 2173.584609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.410063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997468; longitude = -129.063786; captureRadius = 10; duration = 110; initialDepth = 2091.813273; finalDepth = 2089.410063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9330930000001 # Actual altitude: 81.9330930000001 # Commanded vehicle depth:2089.410063 # Seafloor depth:-2171.343156 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.73; 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 = 327.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.674084 meters # Minimum depth: 2171.813273 meters looking forward 200.000000 meters along route # Maximum depth: 2178.287483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.813273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998316; longitude = -129.063251; captureRadius = 10; duration = 110; initialDepth = 2091.813273; finalDepth = 2091.813273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8300379999996 # Actual altitude: 82.8300379999996 # Commanded vehicle depth:2091.813273 # Seafloor depth:-2174.643311 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.32; 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 = 331.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 110.674084 meters # Minimum depth: 2171.813273 meters looking forward 200.000000 meters along route # Maximum depth: 2178.442708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.813273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999235; longitude = -129.062671; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2092.907599; finalDepth = 2091.813273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6294349999998 # Actual altitude: 86.6294349999998 # Commanded vehicle depth:2091.813273 # Seafloor depth:-2178.442708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.52; 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 = 346.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 110.674084 meters # Minimum depth: 2175.435940 meters looking forward 200.000000 meters along route # Maximum depth: 2178.442708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.907599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999248; longitude = -129.062716; captureRadius = 10; duration = 110; initialDepth = 2095.590134; finalDepth = 2092.907599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6294349999998 # Actual altitude: 86.6294349999998 # Commanded vehicle depth:2092.9075992 # Seafloor depth:-2178.396872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.52; 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 = 346.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 110.674084 meters # Minimum depth: 2175.590134 meters looking forward 200.000000 meters along route # Maximum depth: 2178.442708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.590134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999624; longitude = -129.063965; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2090.759747; finalDepth = 2095.590134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4892728000004 # Actual altitude: 85.4892728000004 # Commanded vehicle depth:2095.590134 # Seafloor depth:-2176.424479 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 341.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2170.759747 meters looking forward 200.000000 meters along route # Maximum depth: 2177.414862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.759747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999065; longitude = -129.064322; captureRadius = 10; duration = 110; initialDepth = 2089.585129; finalDepth = 2090.759747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1263309999999 # Actual altitude: 83.1263309999999 # Commanded vehicle depth:2090.759747 # Seafloor depth:-2173.886078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2169.585129 meters looking forward 200.000000 meters along route # Maximum depth: 2172.042414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.585129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998227; longitude = -129.064857; captureRadius = 10; duration = 110; initialDepth = 2085.314855; finalDepth = 2089.585129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1263309999999 # Actual altitude: 83.1263309999999 # Commanded vehicle depth:2089.585129 # Seafloor depth:-2171.050213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2165.314855 meters looking forward 200.000000 meters along route # Maximum depth: 2170.832879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.314855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997389; longitude = -129.065392; captureRadius = 10; duration = 110; initialDepth = 2080.932091; finalDepth = 2085.314855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1585139999997 # Actual altitude: 83.1585139999997 # Commanded vehicle depth:2085.314855 # Seafloor depth:-2168.473369 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2160.932091 meters looking forward 200.000000 meters along route # Maximum depth: 2167.167068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.932091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996550; longitude = -129.065928; captureRadius = 10; duration = 110; initialDepth = 2080.038406; finalDepth = 2080.932091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4812259999999 # Actual altitude: 84.4812259999999 # Commanded vehicle depth:2080.932091 # Seafloor depth:-2165.413317 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 337.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2160.038406 meters looking forward 200.000000 meters along route # Maximum depth: 2165.031526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.038406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995712; longitude = -129.066463; captureRadius = 10; duration = 110; initialDepth = 2080.038406; finalDepth = 2080.038406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4812259999999 # Actual altitude: 84.4812259999999 # Commanded vehicle depth:2080.038406 # Seafloor depth:-2160.341019 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 337.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2160.038406 meters looking forward 200.000000 meters along route # Maximum depth: 2162.195593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.038406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994874; longitude = -129.066998; captureRadius = 10; duration = 110; initialDepth = 2081.499783; finalDepth = 2080.038406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8826610000001 # Actual altitude: 81.8826610000001 # Commanded vehicle depth:2080.038406 # Seafloor depth:-2161.921067 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2161.499783 meters looking forward 200.000000 meters along route # Maximum depth: 2162.195593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.499783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994035; longitude = -129.067534; captureRadius = 10; duration = 110; initialDepth = 2077.275905; finalDepth = 2081.499783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8826610000001 # Actual altitude: 81.8826610000001 # Commanded vehicle depth:2081.499783 # Seafloor depth:-2161.560957 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2157.275905 meters looking forward 200.000000 meters along route # Maximum depth: 2162.026966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.275905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993197; longitude = -129.068069; captureRadius = 10; duration = 110; initialDepth = 2069.422625; finalDepth = 2077.275905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4906390000001 # Actual altitude: 83.4906390000001 # Commanded vehicle depth:2077.275905 # Seafloor depth:-2160.766544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 333.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2149.422625 meters looking forward 200.000000 meters along route # Maximum depth: 2159.290712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.422625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992358; longitude = -129.068604; captureRadius = 10; duration = 110; initialDepth = 2066.203163; finalDepth = 2069.422625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8579359999999 # Actual altitude: 86.8579359999999 # Commanded vehicle depth:2069.422625 # Seafloor depth:-2156.280561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 347.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2146.203163 meters looking forward 200.000000 meters along route # Maximum depth: 2153.902469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.203163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991520; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2064.982591; finalDepth = 2066.203163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8579359999999 # Actual altitude: 86.8579359999999 # Commanded vehicle depth:2066.203163 # Seafloor depth:-2148.598828 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 347.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2144.982591 meters looking forward 200.000000 meters along route # Maximum depth: 2148.001296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.982591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990682; longitude = -129.069675; captureRadius = 10; duration = 110; initialDepth = 2064.982591; finalDepth = 2064.982591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.395665 # Actual altitude: 82.395665 # Commanded vehicle depth:2064.982591 # Seafloor depth:-2145.087820 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.58; 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 = 329.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2144.982591 meters looking forward 200.000000 meters along route # Maximum depth: 2146.501916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.982591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989843; longitude = -129.070210; captureRadius = 10; duration = 110; initialDepth = 2064.411299; finalDepth = 2064.982591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.392339 # Actual altitude: 80.392339 # Commanded vehicle depth:2064.982591 # Seafloor depth:-2145.374930 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.57; 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 = 321.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2144.411299 meters looking forward 200.000000 meters along route # Maximum depth: 2146.848207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.411299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989005; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2064.411299; finalDepth = 2064.411299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4369080000001 # Actual altitude: 82.4369080000001 # Commanded vehicle depth:2064.411299 # Seafloor depth:-2146.848207 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.75; 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 = 329.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2144.411299 meters looking forward 200.000000 meters along route # Maximum depth: 2149.176232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.411299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988167; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2065.677473; finalDepth = 2064.411299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4369080000001 # Actual altitude: 82.4369080000001 # Commanded vehicle depth:2064.411299 # Seafloor depth:-2144.587160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.75; 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 = 329.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2145.677473 meters looking forward 200.000000 meters along route # Maximum depth: 2150.738224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.677473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987328; longitude = -129.071817; captureRadius = 10; duration = 110; initialDepth = 2066.882128; finalDepth = 2065.677473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2436809999999 # Actual altitude: 84.2436809999999 # Commanded vehicle depth:2065.677473 # Seafloor depth:-2149.921154 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.97; 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 = 336.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2146.882128 meters looking forward 200.000000 meters along route # Maximum depth: 2150.738224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.882128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986490; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2065.632536; finalDepth = 2066.882128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2436809999999 # Actual altitude: 84.2436809999999 # Commanded vehicle depth:2066.882128 # Seafloor depth:-2149.405998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.97; 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 = 336.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2145.632536 meters looking forward 200.000000 meters along route # Maximum depth: 2148.152926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.632536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985652; longitude = -129.072887; captureRadius = 10; duration = 110; initialDepth = 2065.632536; finalDepth = 2065.632536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.52387 # Actual altitude: 82.52387 # Commanded vehicle depth:2065.632536 # Seafloor depth:-2146.253516 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 330.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2145.632536 meters looking forward 200.000000 meters along route # Maximum depth: 2148.171387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.632536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984813; longitude = -129.073423; captureRadius = 10; duration = 110; initialDepth = 2066.768217; finalDepth = 2065.632536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.510718 # Actual altitude: 81.510718 # Commanded vehicle depth:2065.632536 # Seafloor depth:-2147.143254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.04; 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 = 326.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2146.768217 meters looking forward 200.000000 meters along route # Maximum depth: 2155.800011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.768217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983975; longitude = -129.073958; captureRadius = 10; duration = 110; initialDepth = 2072.152758; finalDepth = 2066.768217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4870250000004 # Actual altitude: 84.4870250000004 # Commanded vehicle depth:2066.768217 # Seafloor depth:-2151.255242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 337.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2152.152758 meters looking forward 200.000000 meters along route # Maximum depth: 2155.800011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.152758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983137; longitude = -129.074493; captureRadius = 10; duration = 110; initialDepth = 2069.651974; finalDepth = 2072.152758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4870250000004 # Actual altitude: 84.4870250000004 # Commanded vehicle depth:2072.152758 # Seafloor depth:-2155.673313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 337.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2149.651974 meters looking forward 200.000000 meters along route # Maximum depth: 2155.019105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.651974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982298; longitude = -129.075029; captureRadius = 10; duration = 110; initialDepth = 2069.651974; finalDepth = 2069.651974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5205549999996 # Actual altitude: 83.5205549999996 # Commanded vehicle depth:2069.651974 # Seafloor depth:-2150.300268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 334.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2149.651974 meters looking forward 200.000000 meters along route # Maximum depth: 2161.778310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.651974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981460; longitude = -129.075564; captureRadius = 10; duration = 110; initialDepth = 2080.566589; finalDepth = 2069.651974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7135050000002 # Actual altitude: 87.7135050000002 # Commanded vehicle depth:2069.651974 # Seafloor depth:-2157.365479 # 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 52 # Segment length 110.674084 meters # Minimum depth: 2160.566589 meters looking forward 200.000000 meters along route # Maximum depth: 2164.241490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.566589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980621; longitude = -129.076099; captureRadius = 10; duration = 110; initialDepth = 2081.446443; finalDepth = 2080.566589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7135050000002 # Actual altitude: 87.7135050000002 # Commanded vehicle depth:2080.566589 # Seafloor depth:-2161.309796 # 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 52 # Segment length 110.674084 meters # Minimum depth: 2161.446443 meters looking forward 200.000000 meters along route # Maximum depth: 2166.025738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.446443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979783; longitude = -129.076635; captureRadius = 10; duration = 110; initialDepth = 2083.221348; finalDepth = 2081.446443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.579295 # Actual altitude: 84.579295 # Commanded vehicle depth:2081.446443 # Seafloor depth:-2166.025738 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 338.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2163.221348 meters looking forward 200.000000 meters along route # Maximum depth: 2166.011804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.221348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978945; longitude = -129.077170; captureRadius = 10; duration = 110; initialDepth = 2082.047136; finalDepth = 2083.221348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.579295 # Actual altitude: 84.579295 # Commanded vehicle depth:2083.221348 # Seafloor depth:-2164.208643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 338.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2162.047136 meters looking forward 200.000000 meters along route # Maximum depth: 2164.091423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.047136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978106; longitude = -129.077705; captureRadius = 10; duration = 110; initialDepth = 2080.700286; finalDepth = 2082.047136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0266549999997 # Actual altitude: 81.0266549999997 # Commanded vehicle depth:2082.047136 # Seafloor depth:-2163.073791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2160.700286 meters looking forward 200.000000 meters along route # Maximum depth: 2164.397480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.700286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977268; longitude = -129.078241; captureRadius = 10; duration = 110; initialDepth = 2076.811138; finalDepth = 2080.700286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1925350000001 # Actual altitude: 82.1925350000001 # Commanded vehicle depth:2080.700286 # Seafloor depth:-2162.892821 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.77; 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 = 328.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2156.811138 meters looking forward 200.000000 meters along route # Maximum depth: 2164.397480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.811138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976430; longitude = -129.078776; captureRadius = 10; duration = 110; initialDepth = 2074.104392; finalDepth = 2076.811138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1925350000001 # Actual altitude: 82.1925350000001 # Commanded vehicle depth:2076.811138 # Seafloor depth:-2158.023629 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.77; 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 = 328.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2154.104392 meters looking forward 200.000000 meters along route # Maximum depth: 2157.426298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.104392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975591; longitude = -129.079311; captureRadius = 10; duration = 110; initialDepth = 2070.294309; finalDepth = 2074.104392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2124909999998 # Actual altitude: 81.2124909999998 # Commanded vehicle depth:2074.104392 # Seafloor depth:-2155.221577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.85; 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 = 324.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2150.294309 meters looking forward 200.000000 meters along route # Maximum depth: 2154.226582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.294309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974753; longitude = -129.079847; captureRadius = 10; duration = 110; initialDepth = 2068.426140; finalDepth = 2070.294309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4255020000001 # Actual altitude: 83.4255020000001 # Commanded vehicle depth:2070.294309 # Seafloor depth:-2153.719811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.70; 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 = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2148.426140 meters looking forward 200.000000 meters along route # Maximum depth: 2152.611166 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.426140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973915; longitude = -129.080382; captureRadius = 10; duration = 110; initialDepth = 2066.981101; finalDepth = 2068.426140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4255020000001 # Actual altitude: 83.4255020000001 # Commanded vehicle depth:2068.42614 # Seafloor depth:-2149.366478 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.70; 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 = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2146.981101 meters looking forward 200.000000 meters along route # Maximum depth: 2149.050656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.981101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973076; longitude = -129.080917; captureRadius = 10; duration = 110; initialDepth = 2066.981101; finalDepth = 2066.981101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9403379999999 # Actual altitude: 80.9403379999999 # Commanded vehicle depth:2066.981101 # Seafloor depth:-2147.459834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.76; 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 = 323.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2146.981101 meters looking forward 200.000000 meters along route # Maximum depth: 2151.395389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.981101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972238; longitude = -129.081453; captureRadius = 10; duration = 110; initialDepth = 2070.487908; finalDepth = 2066.981101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5806620000003 # Actual altitude: 82.5806620000003 # Commanded vehicle depth:2066.981101 # Seafloor depth:-2149.561763 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.32; 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 = 330.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2150.487908 meters looking forward 200.000000 meters along route # Maximum depth: 2151.395389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.487908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971400; longitude = -129.081988; captureRadius = 10; duration = 110; initialDepth = 2070.487908; finalDepth = 2070.487908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5806620000003 # Actual altitude: 82.5806620000003 # Commanded vehicle depth:2070.487908 # Seafloor depth:-2150.576663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.32; 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 = 330.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2150.487908 meters looking forward 200.000000 meters along route # Maximum depth: 2154.345478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.487908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970561; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2071.759372; finalDepth = 2070.487908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.050839 # Actual altitude: 81.050839 # Commanded vehicle depth:2070.487908 # Seafloor depth:-2151.538747 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.674084 meters # Minimum depth: 2151.759372 meters looking forward 200.000000 meters along route # Maximum depth: 2163.716157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.759372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969723; longitude = -129.083059; captureRadius = 10; duration = 110; initialDepth = 2079.224091; finalDepth = 2071.759372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.244827 # Actual altitude: 85.244827 # Commanded vehicle depth:2071.759372 # Seafloor depth:-2157.004199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.05; MB_Bottom_Detect_Filter_Max_Range = 340.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 110.674084 meters # Minimum depth: 2159.224091 meters looking forward 200.000000 meters along route # Maximum depth: 2178.109239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.224091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968745; longitude = -129.083683; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2083.716157; finalDepth = 2079.224091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.249542 # Actual altitude: 85.249542 # Commanded vehicle depth:2079.224091 # Seafloor depth:-2164.473633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.05; MB_Bottom_Detect_Filter_Max_Range = 341.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 110.674084 meters # Minimum depth: 2163.716157 meters looking forward 200.000000 meters along route # Maximum depth: 2179.268880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.716157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969015; longitude = -129.084888; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.642348; finalDepth = 2083.716157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5527230000002 # Actual altitude: 95.5527230000002 # Commanded vehicle depth:2083.716157 # Seafloor depth:-2179.268880 # 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 = 19.11; 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 50 # Segment length 110.674084 meters # Minimum depth: 2171.642348 meters looking forward 200.000000 meters along route # Maximum depth: 2179.268880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.642348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969576; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2085.209799; finalDepth = 2091.642348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5527230000002 # Actual altitude: 95.5527230000002 # Commanded vehicle depth:2091.642348 # Seafloor depth:-2175.881729 # 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 = 19.11; 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 50 # Segment length 110.674084 meters # Minimum depth: 2165.209799 meters looking forward 200.000000 meters along route # Maximum depth: 2175.179304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.209799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970418; longitude = -129.083996; captureRadius = 10; duration = 110; initialDepth = 2080.503286; finalDepth = 2085.209799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.803277 # Actual altitude: 84.803277 # Commanded vehicle depth:2085.209799 # Seafloor depth:-2170.013076 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.96; MB_Bottom_Detect_Filter_Max_Range = 339.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2160.503286 meters looking forward 200.000000 meters along route # Maximum depth: 2168.410162 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.503286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971260; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2075.885398; finalDepth = 2080.503286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.803277 # Actual altitude: 84.803277 # Commanded vehicle depth:2080.503286 # Seafloor depth:-2163.903293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.96; MB_Bottom_Detect_Filter_Max_Range = 339.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2155.885398 meters looking forward 200.000000 meters along route # Maximum depth: 2162.472028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.885398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972101; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2074.212330; finalDepth = 2075.885398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.16275 # Actual altitude: 84.16275 # Commanded vehicle depth:2075.885398 # Seafloor depth:-2160.048148 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.65; 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 = 336.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2154.212330 meters looking forward 200.000000 meters along route # Maximum depth: 2159.011447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.212330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972943; longitude = -129.082390; captureRadius = 10; duration = 110; initialDepth = 2071.581857; finalDepth = 2074.212330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.16275 # Actual altitude: 84.16275 # Commanded vehicle depth:2074.21233 # Seafloor depth:-2154.819045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.65; 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 = 336.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2151.581857 meters looking forward 200.000000 meters along route # Maximum depth: 2154.900546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.581857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973785; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2071.176808; finalDepth = 2071.581857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3186889999997 # Actual altitude: 83.3186889999997 # Commanded vehicle depth:2071.581857 # Seafloor depth:-2154.900546 # 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 50 # Segment length 110.674084 meters # Minimum depth: 2151.176808 meters looking forward 200.000000 meters along route # Maximum depth: 2154.407770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.176808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974627; longitude = -129.081319; captureRadius = 10; duration = 110; initialDepth = 2069.761529; finalDepth = 2071.176808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3186889999997 # Actual altitude: 83.3186889999997 # Commanded vehicle depth:2071.176808 # Seafloor depth:-2151.176808 # 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 50 # Segment length 110.674084 meters # Minimum depth: 2149.761529 meters looking forward 200.000000 meters along route # Maximum depth: 2151.559714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.761529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975469; longitude = -129.080784; captureRadius = 10; duration = 110; initialDepth = 2069.761529; finalDepth = 2069.761529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2331020000001 # Actual altitude: 81.2331020000001 # Commanded vehicle depth:2069.761529 # Seafloor depth:-2150.994631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.93; 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 = 324.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2149.761529 meters looking forward 200.000000 meters along route # Maximum depth: 2154.730193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.761529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976311; longitude = -129.080248; captureRadius = 10; duration = 110; initialDepth = 2072.087501; finalDepth = 2069.761529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3454780000002 # Actual altitude: 81.3454780000002 # Commanded vehicle depth:2069.761529 # Seafloor depth:-2151.107007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.38; 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 = 325.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2152.087501 meters looking forward 200.000000 meters along route # Maximum depth: 2159.414658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.087501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977153; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2079.010979; finalDepth = 2072.087501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.30789 # Actual altitude: 85.30789 # Commanded vehicle depth:2072.087501 # Seafloor depth:-2157.395391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.23; 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 = 341.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2159.010979 meters looking forward 200.000000 meters along route # Maximum depth: 2161.169656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.010979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977995; longitude = -129.079177; captureRadius = 10; duration = 110; initialDepth = 2080.911147; finalDepth = 2079.010979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.30789 # Actual altitude: 85.30789 # Commanded vehicle depth:2079.010979 # Seafloor depth:-2159.791481 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.23; 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 = 341.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2160.911147 meters looking forward 200.000000 meters along route # Maximum depth: 2163.669705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.911147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978837; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2082.144117; finalDepth = 2080.911147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7805020000001 # Actual altitude: 80.7805020000001 # Commanded vehicle depth:2080.911147 # Seafloor depth:-2161.284222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.12; 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 = 323.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2162.144117 meters looking forward 200.000000 meters along route # Maximum depth: 2163.669705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.144117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979679; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2078.225170; finalDepth = 2082.144117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6163590000001 # Actual altitude: 80.6163590000001 # Commanded vehicle depth:2082.144117 # Seafloor depth:-2162.760476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.47; 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 = 322.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2158.225170 meters looking forward 200.000000 meters along route # Maximum depth: 2163.181527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.225170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980520; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2076.947733; finalDepth = 2078.225170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.593261 # Actual altitude: 81.593261 # Commanded vehicle depth:2078.22517 # Seafloor depth:-2159.818431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.37; 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 = 326.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2156.947733 meters looking forward 200.000000 meters along route # Maximum depth: 2159.944441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.947733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981362; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2073.456506; finalDepth = 2076.947733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4154389999999 # Actual altitude: 82.4154389999999 # Commanded vehicle depth:2076.947733 # Seafloor depth:-2159.363172 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.66; 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 = 329.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2153.456506 meters looking forward 200.000000 meters along route # Maximum depth: 2159.944441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.456506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982204; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2073.456506; finalDepth = 2073.456506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4154389999999 # Actual altitude: 82.4154389999999 # Commanded vehicle depth:2073.456506 # Seafloor depth:-2154.568465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.66; 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 = 329.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2153.456506 meters looking forward 200.000000 meters along route # Maximum depth: 2155.284489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.456506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983046; longitude = -129.075965; captureRadius = 10; duration = 110; initialDepth = 2072.041612; finalDepth = 2073.456506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1119589999998 # Actual altitude: 81.1119589999998 # Commanded vehicle depth:2073.456506 # Seafloor depth:-2153.709033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.45; 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 = 324.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2152.041612 meters looking forward 200.000000 meters along route # Maximum depth: 2155.284489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.041612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983888; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2071.147713; finalDepth = 2072.041612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1796199999999 # Actual altitude: 83.1796199999999 # Commanded vehicle depth:2072.041612 # Seafloor depth:-2155.221232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2151.147713 meters looking forward 200.000000 meters along route # Maximum depth: 2154.777714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.147713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984730; longitude = -129.074895; captureRadius = 10; duration = 110; initialDepth = 2071.594145; finalDepth = 2071.147713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1796199999999 # Actual altitude: 83.1796199999999 # Commanded vehicle depth:2071.147713 # Seafloor depth:-2151.147713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2151.594145 meters looking forward 200.000000 meters along route # Maximum depth: 2153.519477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.594145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985572; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2072.839123; finalDepth = 2071.594145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.683853 # Actual altitude: 81.683853 # Commanded vehicle depth:2071.594145 # Seafloor depth:-2153.277998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.74; 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 = 326.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2152.839123 meters looking forward 200.000000 meters along route # Maximum depth: 2156.307368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.839123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986414; longitude = -129.073824; captureRadius = 10; duration = 110; initialDepth = 2074.710329; finalDepth = 2072.839123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.683853 # Actual altitude: 81.683853 # Commanded vehicle depth:2072.839123 # Seafloor depth:-2154.125819 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.74; 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 = 326.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2154.710329 meters looking forward 200.000000 meters along route # Maximum depth: 2156.475574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.710329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987256; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2071.565618; finalDepth = 2074.710329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.765245 # Actual altitude: 81.765245 # Commanded vehicle depth:2074.710329 # Seafloor depth:-2156.475574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 327.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2151.565618 meters looking forward 200.000000 meters along route # Maximum depth: 2156.159778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.565618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988097; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2070.004068; finalDepth = 2071.565618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5384199999999 # Actual altitude: 82.5384199999999 # Commanded vehicle depth:2071.565618 # Seafloor depth:-2154.104038 # 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 50 # Segment length 110.674084 meters # Minimum depth: 2150.004068 meters looking forward 200.000000 meters along route # Maximum depth: 2152.886026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.004068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988939; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2065.981934; finalDepth = 2070.004068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5384199999999 # Actual altitude: 82.5384199999999 # Commanded vehicle depth:2070.004068 # Seafloor depth:-2151.400942 # 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 50 # Segment length 110.674084 meters # Minimum depth: 2145.981934 meters looking forward 200.000000 meters along route # Maximum depth: 2151.286679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.981934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989781; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2065.717271; finalDepth = 2065.981934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7117480000002 # Actual altitude: 82.7117480000002 # Commanded vehicle depth:2065.981934 # Seafloor depth:-2148.693682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.85; 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 = 330.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2145.717271 meters looking forward 200.000000 meters along route # Maximum depth: 2147.132901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.717271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990623; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2064.157955; finalDepth = 2065.717271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7117480000002 # Actual altitude: 82.7117480000002 # Commanded vehicle depth:2065.717271 # Seafloor depth:-2146.630623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.85; 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 = 330.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2144.157955 meters looking forward 200.000000 meters along route # Maximum depth: 2146.428174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.157955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991465; longitude = -129.070612; captureRadius = 10; duration = 110; initialDepth = 2064.157955; finalDepth = 2064.157955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4470649999998 # Actual altitude: 81.4470649999998 # Commanded vehicle depth:2064.157955 # Seafloor depth:-2145.605020 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.79; 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 = 325.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2144.157955 meters looking forward 200.000000 meters along route # Maximum depth: 2153.809808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.157955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992307; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2069.242192; finalDepth = 2064.157955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7447079999997 # Actual altitude: 81.7447079999997 # Commanded vehicle depth:2064.157955 # Seafloor depth:-2145.902663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 326.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2149.242192 meters looking forward 200.000000 meters along route # Maximum depth: 2156.048390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.242192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993149; longitude = -129.069541; captureRadius = 10; duration = 110; initialDepth = 2074.565850; finalDepth = 2069.242192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5732479999997 # Actual altitude: 84.5732479999997 # Commanded vehicle depth:2069.242192 # Seafloor depth:-2153.815440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2154.565850 meters looking forward 200.000000 meters along route # Maximum depth: 2157.602551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.565850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993991; longitude = -129.069006; captureRadius = 10; duration = 110; initialDepth = 2077.038285; finalDepth = 2074.565850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5732479999997 # Actual altitude: 84.5732479999997 # Commanded vehicle depth:2074.56585 # Seafloor depth:-2156.525313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2157.038285 meters looking forward 200.000000 meters along route # Maximum depth: 2160.533981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.038285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994833; longitude = -129.068471; captureRadius = 10; duration = 110; initialDepth = 2078.974497; finalDepth = 2077.038285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9594630000001 # Actual altitude: 81.9594630000001 # Commanded vehicle depth:2077.038285 # Seafloor depth:-2157.925233 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.84; 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 = 327.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2158.974497 meters looking forward 200.000000 meters along route # Maximum depth: 2160.533981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.974497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995674; longitude = -129.067935; captureRadius = 10; duration = 110; initialDepth = 2079.621147; finalDepth = 2078.974497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4612439999996 # Actual altitude: 81.4612439999996 # Commanded vehicle depth:2078.974497 # Seafloor depth:-2160.435741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.84; 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 = 325.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2159.621147 meters looking forward 200.000000 meters along route # Maximum depth: 2164.322004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.621147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996516; longitude = -129.067400; captureRadius = 10; duration = 110; initialDepth = 2082.805742; finalDepth = 2079.621147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.474909 # Actual altitude: 81.474909 # Commanded vehicle depth:2079.621147 # Seafloor depth:-2161.096056 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.90; 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 = 325.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2162.805742 meters looking forward 200.000000 meters along route # Maximum depth: 2164.919736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.805742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997358; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2084.174640; finalDepth = 2082.805742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.474909 # Actual altitude: 81.474909 # Commanded vehicle depth:2082.805742 # Seafloor depth:-2164.212730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.90; 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 = 325.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2164.174640 meters looking forward 200.000000 meters along route # Maximum depth: 2165.100164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.174640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998200; longitude = -129.066329; captureRadius = 10; duration = 110; initialDepth = 2084.834815; finalDepth = 2084.174640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4069880000002 # Actual altitude: 81.4069880000002 # Commanded vehicle depth:2084.17464 # Seafloor depth:-2165.100164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.63; 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 = 325.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.674084 meters # Minimum depth: 2164.834815 meters looking forward 200.000000 meters along route # Maximum depth: 2168.839928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.834815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999042; longitude = -129.065794; captureRadius = 10; duration = 110; initialDepth = 2085.711673; finalDepth = 2084.834815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9255239999998 # Actual altitude: 80.9255239999998 # Commanded vehicle depth:2084.834815 # Seafloor depth:-2164.990658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.70; 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 = 323.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 110.674084 meters # Minimum depth: 2165.711673 meters looking forward 200.000000 meters along route # Maximum depth: 2180.551062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.711673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999954; longitude = -129.065214; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2088.839928; finalDepth = 2085.711673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5796680000003 # Actual altitude: 83.5796680000003 # Commanded vehicle depth:2085.711673 # Seafloor depth:-2169.291341 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.32; 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 = 334.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 110.674084 meters # Minimum depth: 2168.839928 meters looking forward 200.000000 meters along route # Maximum depth: 2181.780797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.839928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000314; longitude = -129.066418; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2100.551062; finalDepth = 2088.839928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.837481 # Actual altitude: 92.837481 # Commanded vehicle depth:2088.839928 # Seafloor depth:-2181.677409 # 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 = 18.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2180.551062 meters looking forward 200.000000 meters along route # Maximum depth: 2182.441626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.551062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999612; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2097.754536; finalDepth = 2100.551062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.837481 # Actual altitude: 92.837481 # Commanded vehicle depth:2100.551062 # Seafloor depth:-2181.682737 # 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 = 18.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2177.754536 meters looking forward 200.000000 meters along route # Maximum depth: 2182.441626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.754536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998770; longitude = -129.067400; captureRadius = 10; duration = 110; initialDepth = 2095.651406; finalDepth = 2097.754536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0924610000002 # Actual altitude: 83.0924610000002 # Commanded vehicle depth:2097.754536 # Seafloor depth:-2180.846997 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2175.651406 meters looking forward 200.000000 meters along route # Maximum depth: 2179.918300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.651406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997928; longitude = -129.067935; captureRadius = 10; duration = 110; initialDepth = 2090.478443; finalDepth = 2095.651406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0924610000002 # Actual altitude: 83.0924610000002 # Commanded vehicle depth:2095.651406 # Seafloor depth:-2177.454159 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2170.478443 meters looking forward 200.000000 meters along route # Maximum depth: 2177.265632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.478443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997086; longitude = -129.068471; captureRadius = 10; duration = 110; initialDepth = 2089.280256; finalDepth = 2090.478443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0631360000002 # Actual altitude: 83.0631360000002 # Commanded vehicle depth:2090.478443 # Seafloor depth:-2173.541579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.25; 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 = 332.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2169.280256 meters looking forward 200.000000 meters along route # Maximum depth: 2171.622713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.280256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996243; longitude = -129.069006; captureRadius = 10; duration = 110; initialDepth = 2084.504724; finalDepth = 2089.280256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0631360000002 # Actual altitude: 83.0631360000002 # Commanded vehicle depth:2089.280256 # Seafloor depth:-2170.221968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.25; 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 = 332.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2164.504724 meters looking forward 200.000000 meters along route # Maximum depth: 2169.957687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.504724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995401; longitude = -129.069541; captureRadius = 10; duration = 110; initialDepth = 2075.716871; finalDepth = 2084.504724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.900893 # Actual altitude: 83.900893 # Commanded vehicle depth:2084.504724 # Seafloor depth:-2168.405617 # 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 48 # Segment length 110.674084 meters # Minimum depth: 2155.716871 meters looking forward 200.000000 meters along route # Maximum depth: 2167.199595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.716871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994559; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2067.666644; finalDepth = 2075.716871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5376999999999 # Actual altitude: 86.5376999999999 # Commanded vehicle depth:2075.716871 # Seafloor depth:-2162.254571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.15; 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 = 346.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2147.666644 meters looking forward 200.000000 meters along route # Maximum depth: 2159.843244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.666644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993717; longitude = -129.070612; captureRadius = 10; duration = 110; initialDepth = 2059.189018; finalDepth = 2067.666644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5376999999999 # Actual altitude: 86.5376999999999 # Commanded vehicle depth:2067.666644 # Seafloor depth:-2153.254837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.15; 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 = 346.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2139.189018 meters looking forward 200.000000 meters along route # Maximum depth: 2151.230373 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.189018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992875; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2056.175506; finalDepth = 2059.189018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8915609999999 # Actual altitude: 85.8915609999999 # Commanded vehicle depth:2059.189018 # Seafloor depth:-2145.080579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.57; 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 = 343.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2136.175506 meters looking forward 200.000000 meters along route # Maximum depth: 2142.290652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.175506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992033; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2056.175506; finalDepth = 2056.175506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8915609999999 # Actual altitude: 85.8915609999999 # Commanded vehicle depth:2056.175506 # Seafloor depth:-2138.348391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.57; 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 = 343.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2136.175506 meters looking forward 200.000000 meters along route # Maximum depth: 2139.781246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.175506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991191; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2057.158522; finalDepth = 2056.175506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.172885 # Actual altitude: 82.172885 # Commanded vehicle depth:2056.175506 # Seafloor depth:-2137.129430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.69; 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 = 328.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2137.158522 meters looking forward 200.000000 meters along route # Maximum depth: 2147.878707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.158522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990348; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2064.430864; finalDepth = 2057.158522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.898549 # Actual altitude: 84.898549 # Commanded vehicle depth:2057.158522 # Seafloor depth:-2142.057071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.59; 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 = 339.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2144.430864 meters looking forward 200.000000 meters along route # Maximum depth: 2150.723066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.430864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989506; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2068.970572; finalDepth = 2064.430864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.898549 # Actual altitude: 84.898549 # Commanded vehicle depth:2064.430864 # Seafloor depth:-2148.417528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.59; 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 = 339.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2148.970572 meters looking forward 200.000000 meters along route # Maximum depth: 2155.546822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.970572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988664; longitude = -129.073824; captureRadius = 10; duration = 110; initialDepth = 2073.665318; finalDepth = 2068.970572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.986664 # Actual altitude: 83.986664 # Commanded vehicle depth:2068.970572 # Seafloor depth:-2152.481004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.95; 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 = 335.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2153.665318 meters looking forward 200.000000 meters along route # Maximum depth: 2159.320918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.665318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987822; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2077.758811; finalDepth = 2073.665318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.510432 # Actual altitude: 83.510432 # Commanded vehicle depth:2073.665318 # Seafloor depth:-2156.853358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 334.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2157.758811 meters looking forward 200.000000 meters along route # Maximum depth: 2161.136361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.758811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986980; longitude = -129.074895; captureRadius = 10; duration = 110; initialDepth = 2078.326733; finalDepth = 2077.758811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.18804 # Actual altitude: 83.18804 # Commanded vehicle depth:2077.758811 # Seafloor depth:-2159.781954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2158.326733 meters looking forward 200.000000 meters along route # Maximum depth: 2161.136361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.326733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986138; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2075.852104; finalDepth = 2078.326733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.332778 # Actual altitude: 82.332778 # Commanded vehicle depth:2078.326733 # Seafloor depth:-2160.659511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.33; 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 = 329.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2155.852104 meters looking forward 200.000000 meters along route # Maximum depth: 2160.482324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.852104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985295; longitude = -129.075965; captureRadius = 10; duration = 110; initialDepth = 2074.820143; finalDepth = 2075.852104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.332778 # Actual altitude: 82.332778 # Commanded vehicle depth:2075.852104 # Seafloor depth:-2156.825474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.33; 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 = 329.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2154.820143 meters looking forward 200.000000 meters along route # Maximum depth: 2156.786308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.820143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984453; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2072.011887; finalDepth = 2074.820143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9661650000003 # Actual altitude: 81.9661650000003 # Commanded vehicle depth:2074.820143 # Seafloor depth:-2156.786308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.86; 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 = 327.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2152.011887 meters looking forward 200.000000 meters along route # Maximum depth: 2156.535640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.011887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983611; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2071.276632; finalDepth = 2072.011887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9661650000003 # Actual altitude: 81.9661650000003 # Commanded vehicle depth:2072.011887 # Seafloor depth:-2153.758636 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.86; 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 = 327.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2151.276632 meters looking forward 200.000000 meters along route # Maximum depth: 2153.070391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.276632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982769; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2071.276632; finalDepth = 2071.276632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7467489999999 # Actual altitude: 81.7467489999999 # Commanded vehicle depth:2071.276632 # Seafloor depth:-2151.401259 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 326.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2151.276632 meters looking forward 200.000000 meters along route # Maximum depth: 2153.070391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.276632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981927; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2071.244560; finalDepth = 2071.276632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6146829999998 # Actual altitude: 81.6146829999998 # Commanded vehicle depth:2071.276632 # Seafloor depth:-2152.891315 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.46; 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 = 326.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2151.244560 meters looking forward 200.000000 meters along route # Maximum depth: 2152.490802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.244560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981085; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2070.872075; finalDepth = 2071.244560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6146829999998 # Actual altitude: 81.6146829999998 # Commanded vehicle depth:2071.24456 # Seafloor depth:-2151.244560 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.46; 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 = 326.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2150.872075 meters looking forward 200.000000 meters along route # Maximum depth: 2151.870345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.872075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980243; longitude = -129.079177; captureRadius = 10; duration = 110; initialDepth = 2068.381767; finalDepth = 2070.872075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2070.872075 # Seafloor depth:-2150.872075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.00; 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 = 320.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2148.381767 meters looking forward 200.000000 meters along route # Maximum depth: 2151.859595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.381767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979400; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2063.302370; finalDepth = 2068.381767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.209006 # Actual altitude: 82.209006 # Commanded vehicle depth:2068.381767 # Seafloor depth:-2150.590773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.84; 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 = 328.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2143.302370 meters looking forward 200.000000 meters along route # Maximum depth: 2149.782372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.302370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978558; longitude = -129.080248; captureRadius = 10; duration = 110; initialDepth = 2058.476048; finalDepth = 2063.302370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.598207 # Actual altitude: 83.598207 # Commanded vehicle depth:2063.30237 # Seafloor depth:-2146.900577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.39; 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 = 334.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2138.476048 meters looking forward 200.000000 meters along route # Maximum depth: 2145.220707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.476048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977716; longitude = -129.080784; captureRadius = 10; duration = 110; initialDepth = 2058.476048; finalDepth = 2058.476048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.598207 # Actual altitude: 83.598207 # Commanded vehicle depth:2058.476048 # Seafloor depth:-2141.487098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.39; 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 = 334.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2138.476048 meters looking forward 200.000000 meters along route # Maximum depth: 2141.961982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.476048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976874; longitude = -129.081319; captureRadius = 10; duration = 110; initialDepth = 2058.966401; finalDepth = 2058.476048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0110500000001 # Actual altitude: 83.0110500000001 # Commanded vehicle depth:2058.476048 # Seafloor depth:-2138.609041 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 332.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2138.966401 meters looking forward 200.000000 meters along route # Maximum depth: 2149.115384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.966401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976032; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2066.074438; finalDepth = 2058.966401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0327669999997 # Actual altitude: 85.0327669999997 # Commanded vehicle depth:2058.966401 # Seafloor depth:-2143.999168 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 340.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2146.074438 meters looking forward 200.000000 meters along route # Maximum depth: 2154.703863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.074438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975190; longitude = -129.082390; captureRadius = 10; duration = 110; initialDepth = 2070.980142; finalDepth = 2066.074438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0327669999997 # Actual altitude: 85.0327669999997 # Commanded vehicle depth:2066.074438 # Seafloor depth:-2150.037928 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 340.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2150.980142 meters looking forward 200.000000 meters along route # Maximum depth: 2159.268557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.980142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974347; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2077.891932; finalDepth = 2070.980142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6303200000002 # Actual altitude: 85.6303200000002 # Commanded vehicle depth:2070.980142 # Seafloor depth:-2156.610462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 342.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2157.891932 meters looking forward 200.000000 meters along route # Maximum depth: 2161.733375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.891932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973505; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2079.948516; finalDepth = 2077.891932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6303200000002 # Actual altitude: 85.6303200000002 # Commanded vehicle depth:2077.891932 # Seafloor depth:-2159.605579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 342.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2159.948516 meters looking forward 200.000000 meters along route # Maximum depth: 2165.987669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.948516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972663; longitude = -129.083996; captureRadius = 10; duration = 110; initialDepth = 2083.215642; finalDepth = 2079.948516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5873879999999 # Actual altitude: 82.5873879999999 # Commanded vehicle depth:2079.948516 # Seafloor depth:-2162.535904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.35; 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 = 330.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2163.215642 meters looking forward 200.000000 meters along route # Maximum depth: 2173.090901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.215642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971821; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2089.513820; finalDepth = 2083.215642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6209629999998 # Actual altitude: 84.6209629999998 # Commanded vehicle depth:2083.215642 # Seafloor depth:-2167.836605 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 338.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2169.513820 meters looking forward 200.000000 meters along route # Maximum depth: 2178.000215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.513820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970979; longitude = -129.085066; captureRadius = 10; duration = 110; initialDepth = 2095.743747; finalDepth = 2089.513820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1714910000001 # Actual altitude: 85.1714910000001 # Commanded vehicle depth:2089.51382 # Seafloor depth:-2174.685311 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.69; 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 = 340.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.674084 meters # Minimum depth: 2175.743747 meters looking forward 200.000000 meters along route # Maximum depth: 2180.881512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.743747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970137; longitude = -129.085602; captureRadius = 10; duration = 110; initialDepth = 2091.821940; finalDepth = 2095.743747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1714910000001 # Actual altitude: 85.1714910000001 # Commanded vehicle depth:2095.743747 # Seafloor depth:-2179.479465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.69; 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 = 340.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 110.674084 meters # Minimum depth: 2171.821940 meters looking forward 200.000000 meters along route # Maximum depth: 2180.881512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.821940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969224; longitude = -129.086182; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.313539; finalDepth = 2091.821940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.685547 # Actual altitude: 86.685547 # Commanded vehicle depth:2091.82194 # Seafloor depth:-2178.507487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.74; 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 = 346.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 110.674084 meters # Minimum depth: 2171.313539 meters looking forward 200.000000 meters along route # Maximum depth: 2178.876766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.313539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969494; longitude = -129.087386; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2090.002601; finalDepth = 2091.313539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.685547 # Actual altitude: 86.685547 # Commanded vehicle depth:2091.313539 # Seafloor depth:-2171.948242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.74; 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 = 346.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2170.002601 meters looking forward 200.000000 meters along route # Maximum depth: 2171.971544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.002601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970198; longitude = -129.086940; captureRadius = 10; duration = 110; initialDepth = 2088.531735; finalDepth = 2090.002601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2093849999997 # Actual altitude: 81.2093849999997 # Commanded vehicle depth:2090.002601 # Seafloor depth:-2171.211986 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.84; 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 = 324.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2168.531735 meters looking forward 200.000000 meters along route # Maximum depth: 2170.926822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.531735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971043; longitude = -129.086405; captureRadius = 10; duration = 110; initialDepth = 2086.927453; finalDepth = 2088.531735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2093849999997 # Actual altitude: 81.2093849999997 # Commanded vehicle depth:2088.531735 # Seafloor depth:-2169.540608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.84; 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 = 324.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2166.927453 meters looking forward 200.000000 meters along route # Maximum depth: 2169.293961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.927453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971887; longitude = -129.085869; captureRadius = 10; duration = 110; initialDepth = 2086.519822; finalDepth = 2086.927453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3036970000003 # Actual altitude: 81.3036970000003 # Commanded vehicle depth:2086.927453 # Seafloor depth:-2168.231150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.21; 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 = 325.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2166.519822 meters looking forward 200.000000 meters along route # Maximum depth: 2168.043606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.519822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972732; longitude = -129.085334; captureRadius = 10; duration = 110; initialDepth = 2084.114230; finalDepth = 2086.519822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3036970000003 # Actual altitude: 81.3036970000003 # Commanded vehicle depth:2086.519822 # Seafloor depth:-2166.519822 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.21; 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 = 325.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2164.114230 meters looking forward 200.000000 meters along route # Maximum depth: 2166.784234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.114230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973576; longitude = -129.084799; captureRadius = 10; duration = 110; initialDepth = 2083.271373; finalDepth = 2084.114230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9881619999996 # Actual altitude: 81.9881619999996 # Commanded vehicle depth:2084.11423 # Seafloor depth:-2166.102392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.95; 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 = 327.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2163.271373 meters looking forward 200.000000 meters along route # Maximum depth: 2165.190772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.271373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974421; longitude = -129.084263; captureRadius = 10; duration = 110; initialDepth = 2080.290867; finalDepth = 2083.271373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9881619999996 # Actual altitude: 81.9881619999996 # Commanded vehicle depth:2083.271373 # Seafloor depth:-2164.056198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.95; 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 = 327.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2160.290867 meters looking forward 200.000000 meters along route # Maximum depth: 2164.294173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.290867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975266; longitude = -129.083728; captureRadius = 10; duration = 110; initialDepth = 2074.239425; finalDepth = 2080.290867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4850629999996 # Actual altitude: 81.4850629999996 # Commanded vehicle depth:2080.290867 # Seafloor depth:-2161.775930 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.94; 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 = 325.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2154.239425 meters looking forward 200.000000 meters along route # Maximum depth: 2161.031533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.239425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976110; longitude = -129.083193; captureRadius = 10; duration = 110; initialDepth = 2067.961291; finalDepth = 2074.239425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7912939999997 # Actual altitude: 84.7912939999997 # Commanded vehicle depth:2074.239425 # Seafloor depth:-2159.030719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.96; MB_Bottom_Detect_Filter_Max_Range = 339.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2147.961291 meters looking forward 200.000000 meters along route # Maximum depth: 2157.997058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.961291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976955; longitude = -129.082657; captureRadius = 10; duration = 110; initialDepth = 2065.880906; finalDepth = 2067.961291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7912939999997 # Actual altitude: 84.7912939999997 # Commanded vehicle depth:2067.961291 # Seafloor depth:-2151.769875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.96; MB_Bottom_Detect_Filter_Max_Range = 339.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2145.880906 meters looking forward 200.000000 meters along route # Maximum depth: 2150.261932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.880906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977799; longitude = -129.082122; captureRadius = 10; duration = 110; initialDepth = 2065.273453; finalDepth = 2065.880906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8085839999999 # Actual altitude: 83.8085839999999 # Commanded vehicle depth:2065.880906 # Seafloor depth:-2146.504482 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.23; 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 = 335.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2145.273453 meters looking forward 200.000000 meters along route # Maximum depth: 2146.324838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.273453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978644; longitude = -129.081587; captureRadius = 10; duration = 110; initialDepth = 2065.011035; finalDepth = 2065.273453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.623576 # Actual altitude: 80.623576 # Commanded vehicle depth:2065.273453 # Seafloor depth:-2145.420300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.49; 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 = 322.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2145.011035 meters looking forward 200.000000 meters along route # Maximum depth: 2146.324838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.011035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979489; longitude = -129.081051; captureRadius = 10; duration = 110; initialDepth = 2063.509497; finalDepth = 2065.011035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5786450000001 # Actual altitude: 80.5786450000001 # Commanded vehicle depth:2065.011035 # Seafloor depth:-2145.589680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.31; 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 = 322.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2143.509497 meters looking forward 200.000000 meters along route # Maximum depth: 2145.866752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.509497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980333; longitude = -129.080516; captureRadius = 10; duration = 110; initialDepth = 2059.786710; finalDepth = 2063.509497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3572549999999 # Actual altitude: 82.3572549999999 # Commanded vehicle depth:2063.509497 # Seafloor depth:-2145.866752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.43; 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 = 329.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2139.786710 meters looking forward 200.000000 meters along route # Maximum depth: 2145.112744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.786710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981178; longitude = -129.079980; captureRadius = 10; duration = 110; initialDepth = 2058.316397; finalDepth = 2059.786710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1582400000002 # Actual altitude: 83.1582400000002 # Commanded vehicle depth:2059.78671 # Seafloor depth:-2142.944950 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2138.316397 meters looking forward 200.000000 meters along route # Maximum depth: 2141.483193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.316397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982022; longitude = -129.079445; captureRadius = 10; duration = 110; initialDepth = 2055.730789; finalDepth = 2058.316397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1582400000002 # Actual altitude: 83.1582400000002 # Commanded vehicle depth:2058.316397 # Seafloor depth:-2139.832408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2135.730789 meters looking forward 200.000000 meters along route # Maximum depth: 2139.472083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.730789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982867; longitude = -129.078910; captureRadius = 10; duration = 110; initialDepth = 2055.730789; finalDepth = 2055.730789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7671889999997 # Actual altitude: 81.7671889999997 # Commanded vehicle depth:2055.730789 # Seafloor depth:-2137.497978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 327.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2135.730789 meters looking forward 200.000000 meters along route # Maximum depth: 2141.475655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.730789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983711; longitude = -129.078374; captureRadius = 10; duration = 110; initialDepth = 2057.656156; finalDepth = 2055.730789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7671889999997 # Actual altitude: 81.7671889999997 # Commanded vehicle depth:2055.730789 # Seafloor depth:-2136.542036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 327.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2137.656156 meters looking forward 200.000000 meters along route # Maximum depth: 2150.384384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.656156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984556; longitude = -129.077839; captureRadius = 10; duration = 110; initialDepth = 2067.632734; finalDepth = 2057.656156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8421199999998 # Actual altitude: 86.8421199999998 # Commanded vehicle depth:2057.656156 # Seafloor depth:-2144.498276 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 347.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2147.632734 meters looking forward 200.000000 meters along route # Maximum depth: 2154.463063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.632734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985401; longitude = -129.077304; captureRadius = 10; duration = 110; initialDepth = 2072.060512; finalDepth = 2067.632734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8421199999998 # Actual altitude: 86.8421199999998 # Commanded vehicle depth:2067.632734 # Seafloor depth:-2151.033321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 347.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2152.060512 meters looking forward 200.000000 meters along route # Maximum depth: 2156.045319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.060512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986245; longitude = -129.076768; captureRadius = 10; duration = 110; initialDepth = 2072.177129; finalDepth = 2072.060512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4508369999999 # Actual altitude: 83.4508369999999 # Commanded vehicle depth:2072.060512 # Seafloor depth:-2155.511349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.80; 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 = 333.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2152.177129 meters looking forward 200.000000 meters along route # Maximum depth: 2156.045319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.177129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987090; longitude = -129.076233; captureRadius = 10; duration = 110; initialDepth = 2066.990070; finalDepth = 2072.177129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4508369999999 # Actual altitude: 83.4508369999999 # Commanded vehicle depth:2072.177129 # Seafloor depth:-2154.287500 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.80; 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 = 333.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2146.990070 meters looking forward 200.000000 meters along route # Maximum depth: 2153.782040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.990070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987934; longitude = -129.075698; captureRadius = 10; duration = 110; initialDepth = 2063.433678; finalDepth = 2066.990070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0516660000003 # Actual altitude: 84.0516660000003 # Commanded vehicle depth:2066.99007 # Seafloor depth:-2151.041736 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.21; 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 = 336.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2143.433678 meters looking forward 200.000000 meters along route # Maximum depth: 2149.623012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.433678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988779; longitude = -129.075162; captureRadius = 10; duration = 110; initialDepth = 2057.651616; finalDepth = 2063.433678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0516660000003 # Actual altitude: 84.0516660000003 # Commanded vehicle depth:2063.433678 # Seafloor depth:-2146.235430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.21; 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 = 336.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2137.651616 meters looking forward 200.000000 meters along route # Maximum depth: 2145.836189 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.651616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989624; longitude = -129.074627; captureRadius = 10; duration = 110; initialDepth = 2049.913552; finalDepth = 2057.651616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4840819999999 # Actual altitude: 84.4840819999999 # Commanded vehicle depth:2057.651616 # Seafloor depth:-2142.135698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 337.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2129.913552 meters looking forward 200.000000 meters along route # Maximum depth: 2141.031742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.913552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990468; longitude = -129.074092; captureRadius = 10; duration = 110; initialDepth = 2047.323994; finalDepth = 2049.913552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7123759999999 # Actual altitude: 85.7123759999999 # Commanded vehicle depth:2049.913552 # Seafloor depth:-2135.625928 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.85; 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 = 342.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2127.323994 meters looking forward 200.000000 meters along route # Maximum depth: 2133.647695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.323994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991313; longitude = -129.073556; captureRadius = 10; duration = 110; initialDepth = 2047.323994; finalDepth = 2047.323994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7123759999999 # Actual altitude: 85.7123759999999 # Commanded vehicle depth:2047.323994 # Seafloor depth:-2128.677664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.85; 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 = 342.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2127.323994 meters looking forward 200.000000 meters along route # Maximum depth: 2131.396726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.323994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992157; longitude = -129.073021; captureRadius = 10; duration = 110; initialDepth = 2048.809645; finalDepth = 2047.323994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.35367 # Actual altitude: 81.35367 # Commanded vehicle depth:2047.323994 # Seafloor depth:-2127.672236 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.41; 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 = 325.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2128.809645 meters looking forward 200.000000 meters along route # Maximum depth: 2140.230236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.809645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993002; longitude = -129.072486; captureRadius = 10; duration = 110; initialDepth = 2055.168285; finalDepth = 2048.809645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.588342 # Actual altitude: 84.588342 # Commanded vehicle depth:2048.809645 # Seafloor depth:-2133.397987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 338.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2135.168285 meters looking forward 200.000000 meters along route # Maximum depth: 2156.030395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.168285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993846; longitude = -129.071950; captureRadius = 10; duration = 110; initialDepth = 2067.865956; finalDepth = 2055.168285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.7920429999999 # Actual altitude: 88.7920429999999 # Commanded vehicle depth:2055.168285 # Seafloor depth:-2143.960328 # 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 = 17.76; 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 46 # Segment length 110.674084 meters # Minimum depth: 2147.865956 meters looking forward 200.000000 meters along route # Maximum depth: 2164.973912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.865956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994691; longitude = -129.071415; captureRadius = 10; duration = 110; initialDepth = 2081.298940; finalDepth = 2067.865956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.13492 # Actual altitude: 91.13492 # Commanded vehicle depth:2067.865956 # Seafloor depth:-2159.000876 # 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 46 # Segment length 110.674084 meters # Minimum depth: 2161.298940 meters looking forward 200.000000 meters along route # Maximum depth: 2171.050212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.298940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995536; longitude = -129.070880; captureRadius = 10; duration = 110; initialDepth = 2088.353545; finalDepth = 2081.298940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.13492 # Actual altitude: 91.13492 # Commanded vehicle depth:2081.29894 # Seafloor depth:-2166.660432 # 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 46 # Segment length 110.674084 meters # Minimum depth: 2168.353545 meters looking forward 200.000000 meters along route # Maximum depth: 2174.189865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.353545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996380; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2092.105116; finalDepth = 2088.353545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.361492 # Actual altitude: 85.361492 # Commanded vehicle depth:2088.353545 # Seafloor depth:-2171.469306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 341.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2172.105116 meters looking forward 200.000000 meters along route # Maximum depth: 2179.990694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.105116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997225; longitude = -129.069809; captureRadius = 10; duration = 110; initialDepth = 2096.251368; finalDepth = 2092.105116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.115761 # Actual altitude: 83.115761 # Commanded vehicle depth:2092.105116 # Seafloor depth:-2175.033061 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2176.251368 meters looking forward 200.000000 meters along route # Maximum depth: 2184.149724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.251368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998069; longitude = -129.069274; captureRadius = 10; duration = 110; initialDepth = 2102.041428; finalDepth = 2096.251368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8873079999998 # Actual altitude: 84.8873079999998 # Commanded vehicle depth:2096.251368 # Seafloor depth:-2181.138676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.55; 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 = 339.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2182.041428 meters looking forward 200.000000 meters along route # Maximum depth: 2185.912035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.041428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998914; longitude = -129.068738; captureRadius = 10; duration = 110; initialDepth = 2103.815781; finalDepth = 2102.041428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8873079999998 # Actual altitude: 84.8873079999998 # Commanded vehicle depth:2102.041428 # Seafloor depth:-2185.221247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.55; 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 = 339.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.674084 meters # Minimum depth: 2183.815781 meters looking forward 200.000000 meters along route # Maximum depth: 2188.579622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.815781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999759; longitude = -129.068203; captureRadius = 10; duration = 110; initialDepth = 2103.815781; finalDepth = 2103.815781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.179819 # Actual altitude: 83.179819 # Commanded vehicle depth:2103.815781 # Seafloor depth:-2184.461889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 110.674084 meters # Minimum depth: 2183.815781 meters looking forward 200.000000 meters along route # Maximum depth: 2189.390299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.815781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000674; longitude = -129.067623; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2103.815781; finalDepth = 2103.815781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5745180000004 # Actual altitude: 85.5745180000004 # Commanded vehicle depth:2103.815781 # Seafloor depth:-2189.390299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.30; 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 = 342.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 110.674084 meters # Minimum depth: 2183.815781 meters looking forward 200.000000 meters along route # Maximum depth: 2197.001742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.815781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000683; longitude = -129.067668; captureRadius = 10; duration = 110; initialDepth = 2104.476009; finalDepth = 2103.815781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8549710000002 # Actual altitude: 85.8549710000002 # Commanded vehicle depth:2103.815781 # Seafloor depth:-2189.670752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 343.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 110.674084 meters # Minimum depth: 2184.476009 meters looking forward 200.000000 meters along route # Maximum depth: 2197.052083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.476009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000943; longitude = -129.068961; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2114.051929; finalDepth = 2104.476009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.5760740000001 # Actual altitude: 92.5760740000001 # Commanded vehicle depth:2104.476009 # Seafloor depth:-2197.052083 # 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 44 # Segment length 110.674084 meters # Minimum depth: 2194.051929 meters looking forward 200.000000 meters along route # Maximum depth: 2197.052083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.051929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000658; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2111.517847; finalDepth = 2114.051929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.5760740000001 # Actual altitude: 92.5760740000001 # Commanded vehicle depth:2114.051929 # Seafloor depth:-2195.276809 # 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 44 # Segment length 110.674084 meters # Minimum depth: 2191.517847 meters looking forward 200.000000 meters along route # Maximum depth: 2195.880789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2111.517847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999803; longitude = -129.069675; captureRadius = 10; duration = 110; initialDepth = 2103.932662; finalDepth = 2111.517847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3629419999997 # Actual altitude: 84.3629419999997 # Commanded vehicle depth:2111.517847 # Seafloor depth:-2195.880789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 337.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2183.932662 meters looking forward 200.000000 meters along route # Maximum depth: 2195.473148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.932662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998948; longitude = -129.070210; captureRadius = 10; duration = 110; initialDepth = 2093.604200; finalDepth = 2103.932662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4957079999999 # Actual altitude: 85.4957079999999 # Commanded vehicle depth:2103.932662 # Seafloor depth:-2189.428370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 341.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2173.604200 meters looking forward 200.000000 meters along route # Maximum depth: 2187.669883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.604200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998093; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2088.561263; finalDepth = 2093.604200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2943179999997 # Actual altitude: 87.2943179999997 # Commanded vehicle depth:2093.6042 # Seafloor depth:-2180.898518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 349.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2168.561263 meters looking forward 200.000000 meters along route # Maximum depth: 2177.652421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.561263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997238; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2082.361328; finalDepth = 2088.561263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2943179999997 # Actual altitude: 87.2943179999997 # Commanded vehicle depth:2088.561263 # Seafloor depth:-2171.863920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 349.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2162.361328 meters looking forward 200.000000 meters along route # Maximum depth: 2170.475964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.361328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996383; longitude = -129.071817; captureRadius = 10; duration = 110; initialDepth = 2072.661753; finalDepth = 2082.361328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.071199 # Actual altitude: 85.071199 # Commanded vehicle depth:2082.361328 # Seafloor depth:-2167.432527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 340.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2152.661753 meters looking forward 200.000000 meters along route # Maximum depth: 2166.022237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.661753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995528; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2053.102308; finalDepth = 2072.661753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2716570000002 # Actual altitude: 87.2716570000002 # Commanded vehicle depth:2072.661753 # Seafloor depth:-2159.933410 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.09; 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 = 349.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2133.102308 meters looking forward 200.000000 meters along route # Maximum depth: 2158.023494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.102308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994673; longitude = -129.072887; captureRadius = 10; duration = 110; initialDepth = 2044.451807; finalDepth = 2053.102308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.729683 # Actual altitude: 94.729683 # Commanded vehicle depth:2053.102308 # Seafloor depth:-2147.831991 # 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 = 18.95; 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 44 # Segment length 110.674084 meters # Minimum depth: 2124.451807 meters looking forward 200.000000 meters along route # Maximum depth: 2142.777287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.451807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993818; longitude = -129.073423; captureRadius = 10; duration = 110; initialDepth = 2041.602529; finalDepth = 2044.451807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.729683 # Actual altitude: 94.729683 # Commanded vehicle depth:2044.451807 # Seafloor depth:-2129.748833 # 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 = 18.95; 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 44 # Segment length 110.674084 meters # Minimum depth: 2121.602529 meters looking forward 200.000000 meters along route # Maximum depth: 2127.733010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.602529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992963; longitude = -129.073958; captureRadius = 10; duration = 110; initialDepth = 2041.602529; finalDepth = 2041.602529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2970260000002 # Actual altitude: 85.2970260000002 # Commanded vehicle depth:2041.602529 # Seafloor depth:-2123.048507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.19; 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 = 341.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2121.602529 meters looking forward 200.000000 meters along route # Maximum depth: 2127.995651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.602529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992108; longitude = -129.074493; captureRadius = 10; duration = 110; initialDepth = 2042.937358; finalDepth = 2041.602529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4459780000002 # Actual altitude: 81.4459780000002 # Commanded vehicle depth:2041.602529 # Seafloor depth:-2122.425139 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.78; 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 = 325.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2122.937358 meters looking forward 200.000000 meters along route # Maximum depth: 2133.495269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.937358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991253; longitude = -129.075029; captureRadius = 10; duration = 110; initialDepth = 2051.539149; finalDepth = 2042.937358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3209059999999 # Actual altitude: 87.3209059999999 # Commanded vehicle depth:2042.937358 # Seafloor depth:-2130.258264 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 349.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2131.539149 meters looking forward 200.000000 meters along route # Maximum depth: 2145.641056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.539149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990398; longitude = -129.075564; captureRadius = 10; duration = 110; initialDepth = 2058.775514; finalDepth = 2051.539149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3209059999999 # Actual altitude: 87.3209059999999 # Commanded vehicle depth:2051.539149 # Seafloor depth:-2135.427825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 349.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2138.775514 meters looking forward 200.000000 meters along route # Maximum depth: 2149.893590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.775514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989543; longitude = -129.076099; captureRadius = 10; duration = 110; initialDepth = 2068.844887; finalDepth = 2058.775514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9797939999999 # Actual altitude: 88.9797939999999 # Commanded vehicle depth:2058.775514 # Seafloor depth:-2147.755308 # 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 44 # Segment length 110.674084 meters # Minimum depth: 2148.844887 meters looking forward 200.000000 meters along route # Maximum depth: 2152.922536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.844887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988688; longitude = -129.076635; captureRadius = 10; duration = 110; initialDepth = 2071.918641; finalDepth = 2068.844887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9797939999999 # Actual altitude: 88.9797939999999 # Commanded vehicle depth:2068.844887 # Seafloor depth:-2150.738445 # 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 44 # Segment length 110.674084 meters # Minimum depth: 2151.918641 meters looking forward 200.000000 meters along route # Maximum depth: 2155.105357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.918641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987833; longitude = -129.077170; captureRadius = 10; duration = 110; initialDepth = 2071.151218; finalDepth = 2071.918641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8935579999998 # Actual altitude: 81.8935579999998 # Commanded vehicle depth:2071.918641 # Seafloor depth:-2153.028862 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2151.151218 meters looking forward 200.000000 meters along route # Maximum depth: 2155.656651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.151218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986978; longitude = -129.077705; captureRadius = 10; duration = 110; initialDepth = 2067.999542; finalDepth = 2071.151218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5054329999998 # Actual altitude: 84.5054329999998 # Commanded vehicle depth:2071.151218 # Seafloor depth:-2155.656651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 338.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2147.999542 meters looking forward 200.000000 meters along route # Maximum depth: 2154.849243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.999542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986123; longitude = -129.078241; captureRadius = 10; duration = 110; initialDepth = 2062.860082; finalDepth = 2067.999542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5054329999998 # Actual altitude: 84.5054329999998 # Commanded vehicle depth:2067.999542 # Seafloor depth:-2149.462770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 338.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2142.860082 meters looking forward 200.000000 meters along route # Maximum depth: 2148.526167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.860082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985267; longitude = -129.078776; captureRadius = 10; duration = 110; initialDepth = 2062.246435; finalDepth = 2062.860082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.307245 # Actual altitude: 84.307245 # Commanded vehicle depth:2062.860082 # Seafloor depth:-2147.167327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2142.246435 meters looking forward 200.000000 meters along route # Maximum depth: 2145.627945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.246435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984412; longitude = -129.079311; captureRadius = 10; duration = 110; initialDepth = 2062.021160; finalDepth = 2062.246435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.307245 # Actual altitude: 84.307245 # Commanded vehicle depth:2062.246435 # Seafloor depth:-2142.496114 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2142.021160 meters looking forward 200.000000 meters along route # Maximum depth: 2144.654412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.021160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983557; longitude = -129.079847; captureRadius = 10; duration = 110; initialDepth = 2063.063799; finalDepth = 2062.021160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.249679 # Actual altitude: 80.249679 # Commanded vehicle depth:2062.02116 # Seafloor depth:-2142.021160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.00; 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 = 321.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2143.063799 meters looking forward 200.000000 meters along route # Maximum depth: 2145.066831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.063799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982702; longitude = -129.080382; captureRadius = 10; duration = 110; initialDepth = 2064.296502; finalDepth = 2063.063799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0030320000001 # Actual altitude: 82.0030320000001 # Commanded vehicle depth:2063.063799 # Seafloor depth:-2145.066831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.01; 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 = 328.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2144.296502 meters looking forward 200.000000 meters along route # Maximum depth: 2146.584239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.296502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981847; longitude = -129.080917; captureRadius = 10; duration = 110; initialDepth = 2065.715790; finalDepth = 2064.296502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0030320000001 # Actual altitude: 82.0030320000001 # Commanded vehicle depth:2064.296502 # Seafloor depth:-2145.084643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.01; 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 = 328.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2145.715790 meters looking forward 200.000000 meters along route # Maximum depth: 2146.584239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.715790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980992; longitude = -129.081453; captureRadius = 10; duration = 110; initialDepth = 2065.715790; finalDepth = 2065.715790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8038219999999 # Actual altitude: 80.8038219999999 # Commanded vehicle depth:2065.71579 # Seafloor depth:-2146.519612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.22; 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 = 323.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2145.715790 meters looking forward 200.000000 meters along route # Maximum depth: 2148.973685 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.715790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980137; longitude = -129.081988; captureRadius = 10; duration = 110; initialDepth = 2066.742983; finalDepth = 2065.715790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8038219999999 # Actual altitude: 80.8038219999999 # Commanded vehicle depth:2065.71579 # Seafloor depth:-2146.072510 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.22; 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 = 323.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2146.742983 meters looking forward 200.000000 meters along route # Maximum depth: 2153.966683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.742983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979282; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2072.445087; finalDepth = 2066.742983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.002285 # Actual altitude: 84.002285 # Commanded vehicle depth:2066.742983 # Seafloor depth:-2150.745268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.01; 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 = 336.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2152.445087 meters looking forward 200.000000 meters along route # Maximum depth: 2156.961065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.445087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978427; longitude = -129.083059; captureRadius = 10; duration = 110; initialDepth = 2074.874734; finalDepth = 2072.445087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.002285 # Actual altitude: 84.002285 # Commanded vehicle depth:2072.445087 # Seafloor depth:-2154.219452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.01; 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 = 336.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2154.874734 meters looking forward 200.000000 meters along route # Maximum depth: 2159.746672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.874734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977572; longitude = -129.083594; captureRadius = 10; duration = 110; initialDepth = 2077.909653; finalDepth = 2074.874734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6027880000001 # Actual altitude: 82.6027880000001 # Commanded vehicle depth:2074.874734 # Seafloor depth:-2157.477522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.41; 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 = 330.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2157.909653 meters looking forward 200.000000 meters along route # Maximum depth: 2160.240271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.909653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976717; longitude = -129.084129; captureRadius = 10; duration = 110; initialDepth = 2079.837991; finalDepth = 2077.909653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6027880000001 # Actual altitude: 82.6027880000001 # Commanded vehicle depth:2077.909653 # Seafloor depth:-2159.803688 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.41; 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 = 330.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2159.837991 meters looking forward 200.000000 meters along route # Maximum depth: 2162.129871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.837991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975862; longitude = -129.084665; captureRadius = 10; duration = 110; initialDepth = 2080.915154; finalDepth = 2079.837991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8940349999998 # Actual altitude: 81.8940349999998 # Commanded vehicle depth:2079.837991 # Seafloor depth:-2160.188757 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2160.915154 meters looking forward 200.000000 meters along route # Maximum depth: 2162.129871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.915154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975007; longitude = -129.085200; captureRadius = 10; duration = 110; initialDepth = 2081.673607; finalDepth = 2080.915154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0339640000002 # Actual altitude: 81.0339640000002 # Commanded vehicle depth:2080.915154 # Seafloor depth:-2161.949118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2161.673607 meters looking forward 200.000000 meters along route # Maximum depth: 2163.004415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.673607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974152; longitude = -129.085735; captureRadius = 10; duration = 110; initialDepth = 2082.399708; finalDepth = 2081.673607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0339640000002 # Actual altitude: 81.0339640000002 # Commanded vehicle depth:2081.673607 # Seafloor depth:-2162.174557 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2162.399708 meters looking forward 200.000000 meters along route # Maximum depth: 2163.004415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.399708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973297; longitude = -129.086271; captureRadius = 10; duration = 110; initialDepth = 2082.399708; finalDepth = 2082.399708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5009499999996 # Actual altitude: 80.5009499999996 # Commanded vehicle depth:2082.399708 # Seafloor depth:-2162.525518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.00; 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 = 322.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.674084 meters # Minimum depth: 2162.399708 meters looking forward 200.000000 meters along route # Maximum depth: 2164.186187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.399708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972442; longitude = -129.086806; captureRadius = 10; duration = 110; initialDepth = 2083.627115; finalDepth = 2082.399708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8115870000001 # Actual altitude: 80.8115870000001 # Commanded vehicle depth:2082.399708 # Seafloor depth:-2163.211295 # 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 44 # Segment length 110.674084 meters # Minimum depth: 2163.627115 meters looking forward 200.000000 meters along route # Maximum depth: 2165.886307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.627115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971587; longitude = -129.087341; captureRadius = 10; duration = 110; initialDepth = 2084.755565; finalDepth = 2083.627115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8115870000001 # Actual altitude: 80.8115870000001 # Commanded vehicle depth:2083.627115 # Seafloor depth:-2164.291895 # 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 44 # Segment length 110.674084 meters # Minimum depth: 2164.755565 meters looking forward 200.000000 meters along route # Maximum depth: 2167.308704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.755565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970732; longitude = -129.087877; captureRadius = 10; duration = 110; initialDepth = 2082.736197; finalDepth = 2084.755565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5162270000001 # Actual altitude: 81.5162270000001 # Commanded vehicle depth:2084.755565 # Seafloor depth:-2166.271792 # 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 to get to end of line 43 # Segment length 110.674084 meters # Minimum depth: 2162.736197 meters looking forward 200.000000 meters along route # Maximum depth: 2168.085938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.736197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969734; longitude = -129.088501; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2080.761972; finalDepth = 2082.736197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.349741 # Actual altitude: 85.349741 # Commanded vehicle depth:2082.736197 # Seafloor depth:-2168.085938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 341.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 110.674084 meters # Minimum depth: 2160.761972 meters looking forward 200.000000 meters along route # Maximum depth: 2168.085938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.761972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970034; longitude = -129.089661; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2079.853073; finalDepth = 2080.761972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.349741 # Actual altitude: 85.349741 # Commanded vehicle depth:2080.761972 # Seafloor depth:-2162.457682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 341.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2159.853073 meters looking forward 200.000000 meters along route # Maximum depth: 2164.922795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.853073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970531; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2076.996271; finalDepth = 2079.853073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6957100000004 # Actual altitude: 81.6957100000004 # Commanded vehicle depth:2079.853073 # Seafloor depth:-2159.853073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.78; 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 = 326.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2156.996271 meters looking forward 200.000000 meters along route # Maximum depth: 2160.736186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.996271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971384; longitude = -129.088814; captureRadius = 10; duration = 110; initialDepth = 2073.952681; finalDepth = 2076.996271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5896210000001 # Actual altitude: 83.5896210000001 # Commanded vehicle depth:2076.996271 # Seafloor depth:-2160.585892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.36; 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 = 334.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2153.952681 meters looking forward 200.000000 meters along route # Maximum depth: 2159.989856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.952681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972237; longitude = -129.088278; captureRadius = 10; duration = 110; initialDepth = 2072.460149; finalDepth = 2073.952681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5896210000001 # Actual altitude: 83.5896210000001 # Commanded vehicle depth:2073.952681 # Seafloor depth:-2155.981542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.36; 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 = 334.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2152.460149 meters looking forward 200.000000 meters along route # Maximum depth: 2154.902921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.460149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973090; longitude = -129.087743; captureRadius = 10; duration = 110; initialDepth = 2072.460149; finalDepth = 2072.460149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0288609999998 # Actual altitude: 82.0288609999998 # Commanded vehicle depth:2072.460149 # Seafloor depth:-2153.766740 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 328.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2152.460149 meters looking forward 200.000000 meters along route # Maximum depth: 2154.827329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.460149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973943; longitude = -129.087208; captureRadius = 10; duration = 110; initialDepth = 2072.897292; finalDepth = 2072.460149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.306591 # Actual altitude: 81.306591 # Commanded vehicle depth:2072.460149 # Seafloor depth:-2153.733429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.23; 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 = 325.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2152.897292 meters looking forward 200.000000 meters along route # Maximum depth: 2154.827329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.897292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974795; longitude = -129.086672; captureRadius = 10; duration = 110; initialDepth = 2071.867236; finalDepth = 2072.897292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2732799999999 # Actual altitude: 81.2732799999999 # Commanded vehicle depth:2072.897292 # Seafloor depth:-2153.735314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.09; 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 = 325.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2151.867236 meters looking forward 200.000000 meters along route # Maximum depth: 2153.228404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.867236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975648; longitude = -129.086137; captureRadius = 10; duration = 110; initialDepth = 2071.363059; finalDepth = 2071.867236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3611679999999 # Actual altitude: 81.3611679999999 # Commanded vehicle depth:2071.867236 # Seafloor depth:-2153.228404 # 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 42 # Segment length 110.674084 meters # Minimum depth: 2151.363059 meters looking forward 200.000000 meters along route # Maximum depth: 2152.921123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.363059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976501; longitude = -129.085602; captureRadius = 10; duration = 110; initialDepth = 2070.670091; finalDepth = 2071.363059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3611679999999 # Actual altitude: 81.3611679999999 # Commanded vehicle depth:2071.363059 # Seafloor depth:-2152.110524 # 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 42 # Segment length 110.674084 meters # Minimum depth: 2150.670091 meters looking forward 200.000000 meters along route # Maximum depth: 2151.949535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.670091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977354; longitude = -129.085066; captureRadius = 10; duration = 110; initialDepth = 2070.537653; finalDepth = 2070.670091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7796549999998 # Actual altitude: 80.7796549999998 # Commanded vehicle depth:2070.670091 # Seafloor depth:-2151.449746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.12; 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 = 323.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2150.537653 meters looking forward 200.000000 meters along route # Maximum depth: 2151.281905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.537653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978207; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2070.537653; finalDepth = 2070.537653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7796549999998 # Actual altitude: 80.7796549999998 # Commanded vehicle depth:2070.537653 # Seafloor depth:-2150.949785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.12; 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 = 323.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2150.537653 meters looking forward 200.000000 meters along route # Maximum depth: 2152.390381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.537653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979059; longitude = -129.083996; captureRadius = 10; duration = 110; initialDepth = 2070.346367; finalDepth = 2070.537653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.055848 # Actual altitude: 81.055848 # Commanded vehicle depth:2070.537653 # Seafloor depth:-2151.593501 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2150.346367 meters looking forward 200.000000 meters along route # Maximum depth: 2152.390381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.346367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979912; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2069.980136; finalDepth = 2070.346367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.055848 # Actual altitude: 81.055848 # Commanded vehicle depth:2070.346367 # Seafloor depth:-2150.884027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 324.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2149.980136 meters looking forward 200.000000 meters along route # Maximum depth: 2150.702496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.980136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980765; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2069.448684; finalDepth = 2069.980136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.53766 # Actual altitude: 80.53766 # Commanded vehicle depth:2069.980136 # Seafloor depth:-2150.297257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.15; 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 = 322.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2149.448684 meters looking forward 200.000000 meters along route # Maximum depth: 2150.586243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.448684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981618; longitude = -129.082390; captureRadius = 10; duration = 110; initialDepth = 2068.961232; finalDepth = 2069.448684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.317121 # Actual altitude: 80.317121 # Commanded vehicle depth:2069.448684 # Seafloor depth:-2149.681023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.27; 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 = 321.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2148.961232 meters looking forward 200.000000 meters along route # Maximum depth: 2153.096635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.961232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982471; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2069.934715; finalDepth = 2068.961232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2323390000001 # Actual altitude: 80.2323390000001 # Commanded vehicle depth:2068.961232 # Seafloor depth:-2148.961232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.93; 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 = 320.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2149.934715 meters looking forward 200.000000 meters along route # Maximum depth: 2155.775227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.934715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983323; longitude = -129.081319; captureRadius = 10; duration = 110; initialDepth = 2075.140518; finalDepth = 2069.934715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7179770000002 # Actual altitude: 84.7179770000002 # Commanded vehicle depth:2069.934715 # Seafloor depth:-2154.652692 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.87; 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 = 338.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2155.140518 meters looking forward 200.000000 meters along route # Maximum depth: 2155.918572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.140518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984176; longitude = -129.080784; captureRadius = 10; duration = 110; initialDepth = 2075.140518; finalDepth = 2075.140518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7179770000002 # Actual altitude: 84.7179770000002 # Commanded vehicle depth:2075.140518 # Seafloor depth:-2155.720670 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.87; 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 = 338.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2155.140518 meters looking forward 200.000000 meters along route # Maximum depth: 2156.120379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.140518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985029; longitude = -129.080248; captureRadius = 10; duration = 110; initialDepth = 2070.966979; finalDepth = 2075.140518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.580152 # Actual altitude: 80.580152 # Commanded vehicle depth:2075.140518 # Seafloor depth:-2155.351575 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.32; 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 = 322.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2150.966979 meters looking forward 200.000000 meters along route # Maximum depth: 2156.120379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.966979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985882; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2070.966979; finalDepth = 2070.966979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0314450000001 # Actual altitude: 84.0314450000001 # Commanded vehicle depth:2070.966979 # Seafloor depth:-2154.998424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.13; 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 = 336.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2150.966979 meters looking forward 200.000000 meters along route # Maximum depth: 2154.161279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.966979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986735; longitude = -129.079177; captureRadius = 10; duration = 110; initialDepth = 2072.680859; finalDepth = 2070.966979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0314450000001 # Actual altitude: 84.0314450000001 # Commanded vehicle depth:2070.966979 # Seafloor depth:-2151.369859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.13; 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 = 336.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2152.680859 meters looking forward 200.000000 meters along route # Maximum depth: 2154.174041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.680859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987587; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2073.730003; finalDepth = 2072.680859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1197659999998 # Actual altitude: 81.1197659999998 # Commanded vehicle depth:2072.680859 # Seafloor depth:-2153.800625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.48; 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 = 324.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2153.730003 meters looking forward 200.000000 meters along route # Maximum depth: 2156.585975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.730003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988440; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2073.916349; finalDepth = 2073.730003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1197659999998 # Actual altitude: 81.1197659999998 # Commanded vehicle depth:2073.730003 # Seafloor depth:-2154.702365 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.48; 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 = 324.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2153.916349 meters looking forward 200.000000 meters along route # Maximum depth: 2157.040292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.916349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989293; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2062.324048; finalDepth = 2073.916349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1239430000001 # Actual altitude: 83.1239430000001 # Commanded vehicle depth:2073.916349 # Seafloor depth:-2157.040292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2142.324048 meters looking forward 200.000000 meters along route # Maximum depth: 2156.908406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.324048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990146; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2046.601851; finalDepth = 2062.324048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.675452 # Actual altitude: 89.675452 # Commanded vehicle depth:2062.324048 # Seafloor depth:-2151.999500 # 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 = 17.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2126.601851 meters looking forward 200.000000 meters along route # Maximum depth: 2149.190759 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.601851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990999; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2038.820295; finalDepth = 2046.601851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9457430000002 # Actual altitude: 91.9457430000002 # Commanded vehicle depth:2046.601851 # Seafloor depth:-2138.547594 # 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 = 18.39; 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 110.674084 meters # Minimum depth: 2118.820295 meters looking forward 200.000000 meters along route # Maximum depth: 2134.546260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.820295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991851; longitude = -129.075965; captureRadius = 10; duration = 110; initialDepth = 2034.807015; finalDepth = 2038.820295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9457430000002 # Actual altitude: 91.9457430000002 # Commanded vehicle depth:2038.820295 # Seafloor depth:-2123.248902 # 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 = 18.39; 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 110.674084 meters # Minimum depth: 2114.807015 meters looking forward 200.000000 meters along route # Maximum depth: 2120.767828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.807015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992704; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2034.807015; finalDepth = 2034.807015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4286069999998 # Actual altitude: 84.4286069999998 # Commanded vehicle depth:2034.807015 # Seafloor depth:-2117.505469 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.71; 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 = 337.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2114.807015 meters looking forward 200.000000 meters along route # Maximum depth: 2128.102628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.807015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993557; longitude = -129.074895; captureRadius = 10; duration = 110; initialDepth = 2039.967334; finalDepth = 2034.807015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7978150000004 # Actual altitude: 82.7978150000004 # Commanded vehicle depth:2034.807015 # Seafloor depth:-2117.604830 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 331.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2119.967334 meters looking forward 200.000000 meters along route # Maximum depth: 2147.238379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.967334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994410; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2058.111054; finalDepth = 2039.967334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.2941060000003 # Actual altitude: 93.2941060000003 # Commanded vehicle depth:2039.967334 # Seafloor depth:-2133.261440 # 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 = 18.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2138.111054 meters looking forward 200.000000 meters along route # Maximum depth: 2163.547670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.111054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995263; longitude = -129.073824; captureRadius = 10; duration = 110; initialDepth = 2077.038026; finalDepth = 2058.111054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.1030850000002 # Actual altitude: 94.1030850000002 # Commanded vehicle depth:2058.111054 # Seafloor depth:-2152.214139 # 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 42 # Segment length 110.674084 meters # Minimum depth: 2157.038026 meters looking forward 200.000000 meters along route # Maximum depth: 2171.093657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.038026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996115; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2088.085077; finalDepth = 2077.038026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.1030850000002 # Actual altitude: 94.1030850000002 # Commanded vehicle depth:2077.038026 # Seafloor depth:-2166.149624 # 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 42 # Segment length 110.674084 meters # Minimum depth: 2168.085077 meters looking forward 200.000000 meters along route # Maximum depth: 2173.212396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.085077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996968; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2091.957089; finalDepth = 2088.085077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.111598 # Actual altitude: 89.111598 # Commanded vehicle depth:2088.085077 # Seafloor depth:-2171.663236 # 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 = 17.82; 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 42 # Segment length 110.674084 meters # Minimum depth: 2171.957089 meters looking forward 200.000000 meters along route # Maximum depth: 2182.257946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.957089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997821; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2097.325045; finalDepth = 2091.957089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5781589999997 # Actual altitude: 83.5781589999997 # Commanded vehicle depth:2091.957089 # Seafloor depth:-2175.229380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.31; 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 = 334.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.674084 meters # Minimum depth: 2177.325045 meters looking forward 200.000000 meters along route # Maximum depth: 2193.487049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.325045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998674; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2108.852383; finalDepth = 2097.325045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.2190809999997 # Actual altitude: 88.2190809999997 # Commanded vehicle depth:2097.325045 # Seafloor depth:-2185.544126 # 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 = 17.64; 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 110.674084 meters # Minimum depth: 2188.852383 meters looking forward 200.000000 meters along route # Maximum depth: 2199.864622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.852383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999526; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2113.926673; finalDepth = 2108.852383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.2190809999997 # Actual altitude: 88.2190809999997 # Commanded vehicle depth:2108.852383 # Seafloor depth:-2195.835838 # 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 = 17.64; 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 110.674084 meters # Minimum depth: 2193.926673 meters looking forward 200.000000 meters along route # Maximum depth: 2199.864622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.926673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000379; longitude = -129.070612; captureRadius = 10; duration = 110; initialDepth = 2113.926673; finalDepth = 2113.926673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.983455 # Actual altitude: 86.983455 # Commanded vehicle depth:2113.926673 # Seafloor depth:-2197.775534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 347.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 110.674084 meters # Minimum depth: 2193.926673 meters looking forward 200.000000 meters along route # Maximum depth: 2199.864622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.926673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001303; longitude = -129.070032; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2112.889312; finalDepth = 2113.926673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8488609999999 # Actual altitude: 83.8488609999999 # Commanded vehicle depth:2113.926673 # Seafloor depth:-2193.968099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 335.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 110.674084 meters # Minimum depth: 2192.889312 meters looking forward 200.000000 meters along route # Maximum depth: 2194.956066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2112.889312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001282; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2109.192443; finalDepth = 2112.889312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9395960000002 # Actual altitude: 80.9395960000002 # Commanded vehicle depth:2112.889312 # Seafloor depth:-2193.828908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.76; 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 = 323.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 110.674084 meters # Minimum depth: 2189.192443 meters looking forward 200.000000 meters along route # Maximum depth: 2193.639460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.192443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000701; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2109.071289; finalDepth = 2109.192443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.441945 # Actual altitude: 83.441945 # Commanded vehicle depth:2109.192443 # Seafloor depth:-2192.634388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.77; 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 = 333.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 110.674084 meters # Minimum depth: 2189.071289 meters looking forward 200.000000 meters along route # Maximum depth: 2193.579751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.071289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000164; longitude = -129.072396; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2109.045551; finalDepth = 2109.071289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.441945 # Actual altitude: 83.441945 # Commanded vehicle depth:2109.071289 # Seafloor depth:-2189.071289 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.77; 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 = 333.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2189.045551 meters looking forward 200.000000 meters along route # Maximum depth: 2190.877626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.045551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999804; longitude = -129.072620; captureRadius = 10; duration = 110; initialDepth = 2103.217759; finalDepth = 2109.045551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1892589999998 # Actual altitude: 81.1892589999998 # Commanded vehicle depth:2109.045551 # Seafloor depth:-2190.234810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.76; 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 = 324.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2183.217759 meters looking forward 200.000000 meters along route # Maximum depth: 2190.538385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.217759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998939; longitude = -129.073155; captureRadius = 10; duration = 110; initialDepth = 2102.355482; finalDepth = 2103.217759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0671849999999 # Actual altitude: 84.0671849999999 # Commanded vehicle depth:2103.217759 # Seafloor depth:-2187.284944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.27; 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 = 336.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2182.355482 meters looking forward 200.000000 meters along route # Maximum depth: 2185.463220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.355482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998075; longitude = -129.073690; captureRadius = 10; duration = 110; initialDepth = 2100.318103; finalDepth = 2102.355482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0671849999999 # Actual altitude: 84.0671849999999 # Commanded vehicle depth:2102.355482 # Seafloor depth:-2182.823390 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.27; 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 = 336.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2180.318103 meters looking forward 200.000000 meters along route # Maximum depth: 2182.847013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.318103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997211; longitude = -129.074226; captureRadius = 10; duration = 110; initialDepth = 2079.472747; finalDepth = 2100.318103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.52891 # Actual altitude: 82.52891 # Commanded vehicle depth:2100.318103 # Seafloor depth:-2182.847013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.12; 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 = 330.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2159.472747 meters looking forward 200.000000 meters along route # Maximum depth: 2182.557949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.472747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996347; longitude = -129.074761; captureRadius = 10; duration = 110; initialDepth = 2054.883713; finalDepth = 2079.472747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0254290000003 # Actual altitude: 98.0254290000003 # Commanded vehicle depth:2079.472747 # Seafloor depth:-2177.498176 # 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 = 19.61; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2134.883713 meters looking forward 200.000000 meters along route # Maximum depth: 2172.936852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.883713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995482; longitude = -129.075296; captureRadius = 10; duration = 110; initialDepth = 2039.711982; finalDepth = 2054.883713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0254290000003 # Actual altitude: 98.0254290000003 # Commanded vehicle depth:2054.883713 # Seafloor depth:-2152.234151 # 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 = 19.61; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2119.711982 meters looking forward 200.000000 meters along route # Maximum depth: 2146.113437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.711982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994618; longitude = -129.075832; captureRadius = 10; duration = 110; initialDepth = 2036.362454; finalDepth = 2039.711982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.3504379999999 # Actual altitude: 97.3504379999999 # Commanded vehicle depth:2039.711982 # Seafloor depth:-2131.215174 # 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 = 19.47; 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 40 # Segment length 110.674084 meters # Minimum depth: 2116.362454 meters looking forward 200.000000 meters along route # Maximum depth: 2127.804034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.362454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993754; longitude = -129.076367; captureRadius = 10; duration = 110; initialDepth = 2036.362454; finalDepth = 2036.362454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.5031920000001 # Actual altitude: 91.5031920000001 # Commanded vehicle depth:2036.362454 # Seafloor depth:-2117.496781 # 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 = 18.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2116.362454 meters looking forward 200.000000 meters along route # Maximum depth: 2119.736952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.362454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992889; longitude = -129.076902; captureRadius = 10; duration = 110; initialDepth = 2037.234695; finalDepth = 2036.362454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6807290000002 # Actual altitude: 81.6807290000002 # Commanded vehicle depth:2036.362454 # Seafloor depth:-2118.043183 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.72; 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 = 326.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2117.234695 meters looking forward 200.000000 meters along route # Maximum depth: 2134.740288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.234695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992025; longitude = -129.077438; captureRadius = 10; duration = 110; initialDepth = 2047.378710; finalDepth = 2037.234695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7777000000001 # Actual altitude: 85.7777000000001 # Commanded vehicle depth:2037.234695 # Seafloor depth:-2123.012395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.11; 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 = 343.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2127.378710 meters looking forward 200.000000 meters along route # Maximum depth: 2151.177846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.378710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991161; longitude = -129.077973; captureRadius = 10; duration = 110; initialDepth = 2063.923388; finalDepth = 2047.378710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0719290000002 # Actual altitude: 92.0719290000002 # Commanded vehicle depth:2047.37871 # Seafloor depth:-2139.450639 # 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 = 18.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2143.923388 meters looking forward 200.000000 meters along route # Maximum depth: 2159.767059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.923388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990297; longitude = -129.078508; captureRadius = 10; duration = 110; initialDepth = 2076.107501; finalDepth = 2063.923388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0719290000002 # Actual altitude: 92.0719290000002 # Commanded vehicle depth:2063.923388 # Seafloor depth:-2153.632910 # 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 = 18.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2156.107501 meters looking forward 200.000000 meters along route # Maximum depth: 2159.767059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.107501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989432; longitude = -129.079044; captureRadius = 10; duration = 110; initialDepth = 2078.176268; finalDepth = 2076.107501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7095219999997 # Actual altitude: 89.7095219999997 # Commanded vehicle depth:2076.107501 # Seafloor depth:-2159.518308 # 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 = 17.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2158.176268 meters looking forward 200.000000 meters along route # Maximum depth: 2159.093815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.176268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988568; longitude = -129.079579; captureRadius = 10; duration = 110; initialDepth = 2076.099673; finalDepth = 2078.176268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4108070000002 # Actual altitude: 83.4108070000002 # Commanded vehicle depth:2078.176268 # Seafloor depth:-2158.229469 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.68; MB_Bottom_Detect_Filter_Max_Range = 333.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2156.099673 meters looking forward 200.000000 meters along route # Maximum depth: 2159.124636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.099673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987704; longitude = -129.080114; captureRadius = 10; duration = 110; initialDepth = 2075.518922; finalDepth = 2076.099673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0249629999998 # Actual altitude: 83.0249629999998 # Commanded vehicle depth:2076.099673 # Seafloor depth:-2159.124636 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 332.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2155.518922 meters looking forward 200.000000 meters along route # Maximum depth: 2158.643408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.518922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986839; longitude = -129.080650; captureRadius = 10; duration = 110; initialDepth = 2075.550784; finalDepth = 2075.518922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0249629999998 # Actual altitude: 83.0249629999998 # Commanded vehicle depth:2075.518922 # Seafloor depth:-2155.518922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 332.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2155.550784 meters looking forward 200.000000 meters along route # Maximum depth: 2156.347395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.550784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985975; longitude = -129.081185; captureRadius = 10; duration = 110; initialDepth = 2075.550784; finalDepth = 2075.550784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2629449999999 # Actual altitude: 80.2629449999999 # Commanded vehicle depth:2075.550784 # Seafloor depth:-2155.813729 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.05; 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 = 321.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2155.550784 meters looking forward 200.000000 meters along route # Maximum depth: 2157.051665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.550784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985111; longitude = -129.081720; captureRadius = 10; duration = 110; initialDepth = 2074.298122; finalDepth = 2075.550784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.286345 # Actual altitude: 81.286345 # Commanded vehicle depth:2075.550784 # Seafloor depth:-2156.837129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.15; 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 = 325.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2154.298122 meters looking forward 200.000000 meters along route # Maximum depth: 2157.051665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.298122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984246; longitude = -129.082256; captureRadius = 10; duration = 110; initialDepth = 2071.351740; finalDepth = 2074.298122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2769629999998 # Actual altitude: 82.2769629999998 # Commanded vehicle depth:2074.298122 # Seafloor depth:-2156.575085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.11; 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 = 329.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2151.351740 meters looking forward 200.000000 meters along route # Maximum depth: 2156.413778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.351740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983382; longitude = -129.082791; captureRadius = 10; duration = 110; initialDepth = 2068.116914; finalDepth = 2071.351740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2769629999998 # Actual altitude: 82.2769629999998 # Commanded vehicle depth:2071.35174 # Seafloor depth:-2153.003184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.11; 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 = 329.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2148.116914 meters looking forward 200.000000 meters along route # Maximum depth: 2152.134786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.116914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982518; longitude = -129.083326; captureRadius = 10; duration = 110; initialDepth = 2066.752223; finalDepth = 2068.116914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.509583 # Actual altitude: 82.509583 # Commanded vehicle depth:2068.116914 # Seafloor depth:-2150.626497 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 330.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2146.752223 meters looking forward 200.000000 meters along route # Maximum depth: 2149.299486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.752223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981654; longitude = -129.083862; captureRadius = 10; duration = 110; initialDepth = 2066.548628; finalDepth = 2066.752223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.509583 # Actual altitude: 82.509583 # Commanded vehicle depth:2066.752223 # Seafloor depth:-2147.882682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 330.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2146.548628 meters looking forward 200.000000 meters along route # Maximum depth: 2147.415674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.548628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980789; longitude = -129.084397; captureRadius = 10; duration = 110; initialDepth = 2062.490714; finalDepth = 2066.548628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.130459 # Actual altitude: 81.130459 # Commanded vehicle depth:2066.548628 # Seafloor depth:-2146.623913 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.52; 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 = 324.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2142.490714 meters looking forward 200.000000 meters along route # Maximum depth: 2146.706867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.490714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979925; longitude = -129.084932; captureRadius = 10; duration = 110; initialDepth = 2060.919637; finalDepth = 2062.490714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.489959 # Actual altitude: 83.489959 # Commanded vehicle depth:2062.490714 # Seafloor depth:-2145.980673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 333.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2140.919637 meters looking forward 200.000000 meters along route # Maximum depth: 2144.841656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.919637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979061; longitude = -129.085468; captureRadius = 10; duration = 110; initialDepth = 2060.550829; finalDepth = 2060.919637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.489959 # Actual altitude: 83.489959 # Commanded vehicle depth:2060.919637 # Seafloor depth:-2142.303118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 333.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2140.550829 meters looking forward 200.000000 meters along route # Maximum depth: 2142.022965 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.550829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978196; longitude = -129.086003; captureRadius = 10; duration = 110; initialDepth = 2060.550829; finalDepth = 2060.550829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3834809999998 # Actual altitude: 81.3834809999998 # Commanded vehicle depth:2060.550829 # Seafloor depth:-2140.654312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.53; 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 = 325.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2140.550829 meters looking forward 200.000000 meters along route # Maximum depth: 2143.901060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.550829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977332; longitude = -129.086538; captureRadius = 10; duration = 110; initialDepth = 2062.232880; finalDepth = 2060.550829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7705680000004 # Actual altitude: 80.7705680000004 # Commanded vehicle depth:2060.550829 # Seafloor depth:-2141.321397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.08; 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 = 323.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2142.232880 meters looking forward 200.000000 meters along route # Maximum depth: 2145.051465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.232880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976468; longitude = -129.087074; captureRadius = 10; duration = 110; initialDepth = 2061.689431; finalDepth = 2062.232880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.657972 # Actual altitude: 82.657972 # Commanded vehicle depth:2062.23288 # Seafloor depth:-2144.890852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2141.689431 meters looking forward 200.000000 meters along route # Maximum depth: 2145.051465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.689431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975604; longitude = -129.087609; captureRadius = 10; duration = 110; initialDepth = 2061.839041; finalDepth = 2061.689431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.657972 # Actual altitude: 82.657972 # Commanded vehicle depth:2061.689431 # Seafloor depth:-2141.689431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2141.839041 meters looking forward 200.000000 meters along route # Maximum depth: 2144.654827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.839041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974739; longitude = -129.088144; captureRadius = 10; duration = 110; initialDepth = 2063.507029; finalDepth = 2061.839041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4927849999999 # Actual altitude: 81.4927849999999 # Commanded vehicle depth:2061.839041 # Seafloor depth:-2143.331826 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.97; 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 = 325.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2143.507029 meters looking forward 200.000000 meters along route # Maximum depth: 2145.905156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.507029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973875; longitude = -129.088680; captureRadius = 10; duration = 110; initialDepth = 2065.115866; finalDepth = 2063.507029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5529120000001 # Actual altitude: 81.5529120000001 # Commanded vehicle depth:2063.507029 # Seafloor depth:-2145.059941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.21; 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 = 326.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2145.115866 meters looking forward 200.000000 meters along route # Maximum depth: 2147.523599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.115866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973011; longitude = -129.089215; captureRadius = 10; duration = 110; initialDepth = 2066.457013; finalDepth = 2065.115866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.790156 # Actual altitude: 81.790156 # Commanded vehicle depth:2065.115866 # Seafloor depth:-2146.906022 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.16; 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 = 327.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2146.457013 meters looking forward 200.000000 meters along route # Maximum depth: 2153.428976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.457013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972146; longitude = -129.089750; captureRadius = 10; duration = 110; initialDepth = 2071.177223; finalDepth = 2066.457013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.790156 # Actual altitude: 81.790156 # Commanded vehicle depth:2066.457013 # Seafloor depth:-2148.080410 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.16; 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 = 327.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.674084 meters # Minimum depth: 2151.177223 meters looking forward 200.000000 meters along route # Maximum depth: 2156.215828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.177223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971282; longitude = -129.090286; captureRadius = 10; duration = 110; initialDepth = 2073.428976; finalDepth = 2071.177223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.440932 # Actual altitude: 82.440932 # Commanded vehicle depth:2071.177223 # Seafloor depth:-2153.618155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.76; 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 = 329.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 110.674084 meters # Minimum depth: 2153.428976 meters looking forward 200.000000 meters along route # Maximum depth: 2159.232728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.428976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970274; longitude = -129.090910; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2075.173081; finalDepth = 2073.428976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.351948 # Actual altitude: 83.351948 # Commanded vehicle depth:2073.428976 # Seafloor depth:-2156.780924 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 333.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 110.674084 meters # Minimum depth: 2155.173081 meters looking forward 200.000000 meters along route # Maximum depth: 2166.143912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.173081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970108; longitude = -129.090286; captureRadius = 10; duration = 110; initialDepth = 2078.729169; finalDepth = 2075.173081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.490652 # Actual altitude: 84.490652 # Commanded vehicle depth:2075.173081 # Seafloor depth:-2159.663733 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 337.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 110.674084 meters # Minimum depth: 2158.729169 meters looking forward 200.000000 meters along route # Maximum depth: 2168.221558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.729169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969764; longitude = -129.088992; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2085.507495; finalDepth = 2078.729169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.829099 # Actual altitude: 87.829099 # Commanded vehicle depth:2078.729169 # Seafloor depth:-2166.558268 # 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 = 17.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 110.674084 meters # Minimum depth: 2165.507495 meters looking forward 200.000000 meters along route # Maximum depth: 2172.052368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.507495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969164; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2090.638428; finalDepth = 2085.507495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.829099 # Actual altitude: 87.829099 # Commanded vehicle depth:2085.507495 # Seafloor depth:-2169.305176 # 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 = 17.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 110.674084 meters # Minimum depth: 2170.638428 meters looking forward 200.000000 meters along route # Maximum depth: 2174.373169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.638428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968265; longitude = -129.089884; captureRadius = 10; duration = 110; initialDepth = 2092.930664; finalDepth = 2090.638428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.797681 # Actual altitude: 83.797681 # Commanded vehicle depth:2090.638428 # Seafloor depth:-2172.220947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.19; 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 = 335.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 110.674084 meters # Minimum depth: 2172.930664 meters looking forward 200.000000 meters along route # Maximum depth: 2176.115112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.930664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967366; longitude = -129.090420; captureRadius = 10; duration = 110; initialDepth = 2095.452881; finalDepth = 2092.930664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6850589999999 # Actual altitude: 81.6850589999999 # Commanded vehicle depth:2092.930664 # Seafloor depth:-2174.615723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.74; 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 = 326.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 110.674084 meters # Minimum depth: 2175.452881 meters looking forward 200.000000 meters along route # Maximum depth: 2176.525269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.452881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966466; longitude = -129.090955; captureRadius = 10; duration = 110; initialDepth = 2093.914063; finalDepth = 2095.452881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6850589999999 # Actual altitude: 81.6850589999999 # Commanded vehicle depth:2095.452881 # Seafloor depth:-2176.438965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.74; 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 = 326.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 110.674084 meters # Minimum depth: 2173.914063 meters looking forward 200.000000 meters along route # Maximum depth: 2176.126465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.914063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965417; longitude = -129.091580; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2093.914063; finalDepth = 2093.914063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2124019999997 # Actual altitude: 82.2124019999997 # Commanded vehicle depth:2093.914063 # Seafloor depth:-2176.126465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.85; 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 = 328.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 110.674084 meters # Minimum depth: 2173.914063 meters looking forward 200.000000 meters along route # Maximum depth: 2176.115112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.914063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967366; longitude = -129.090420; captureRadius = 10; duration = 110; initialDepth = 2094.997437; finalDepth = 2093.914063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2124019999997 # Actual altitude: 82.2124019999997 # Commanded vehicle depth:2093.914063 # Seafloor depth:-2174.615723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.85; 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 = 328.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 110.674084 meters # Minimum depth: 2174.997437 meters looking forward 200.000000 meters along route # Maximum depth: 2176.525269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.997437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966466; longitude = -129.090955; captureRadius = 10; duration = 110; initialDepth = 2095.452881; finalDepth = 2094.997437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4415279999998 # Actual altitude: 81.4415279999998 # Commanded vehicle depth:2094.997437 # Seafloor depth:-2176.438965 # 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 37 # Segment length 110.674084 meters # Minimum depth: 2175.452881 meters looking forward 200.000000 meters along route # Maximum depth: 2176.459229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.452881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965567; longitude = -129.091490; captureRadius = 10; duration = 110; initialDepth = 2095.452881; finalDepth = 2095.452881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4415279999998 # Actual altitude: 81.4415279999998 # Commanded vehicle depth:2095.452881 # Seafloor depth:-2175.452881 # 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 to get to end of line 36 # Segment length 110.674084 meters # Minimum depth: 2175.452881 meters looking forward 200.000000 meters along route # Maximum depth: 2177.104980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.452881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964907; longitude = -129.090063; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2096.914031; finalDepth = 2095.452881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6520989999999 # Actual altitude: 81.6520989999999 # Commanded vehicle depth:2095.452881 # Seafloor depth:-2177.104980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.674084 meters # Minimum depth: 2176.914031 meters looking forward 200.000000 meters along route # Maximum depth: 2177.466456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.914031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964982; longitude = -129.090018; captureRadius = 10; duration = 110; initialDepth = 2095.083973; finalDepth = 2096.914031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6520989999999 # Actual altitude: 81.6520989999999 # Commanded vehicle depth:2096.914031 # Seafloor depth:-2177.157281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.674084 meters # Minimum depth: 2175.083973 meters looking forward 200.000000 meters along route # Maximum depth: 2177.466456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.083973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965872; longitude = -129.089483; captureRadius = 10; duration = 110; initialDepth = 2092.677141; finalDepth = 2095.083973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3695710000002 # Actual altitude: 81.3695710000002 # Commanded vehicle depth:2095.083973 # Seafloor depth:-2176.453544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.48; 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 = 325.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.674084 meters # Minimum depth: 2172.677141 meters looking forward 200.000000 meters along route # Maximum depth: 2176.113258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.677141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966763; longitude = -129.088947; captureRadius = 10; duration = 110; initialDepth = 2091.958539; finalDepth = 2092.677141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7124140000001 # Actual altitude: 81.7124140000001 # Commanded vehicle depth:2092.677141 # Seafloor depth:-2174.389555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.85; 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 = 326.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.674084 meters # Minimum depth: 2171.958539 meters looking forward 200.000000 meters along route # Maximum depth: 2174.002496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.958539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967654; longitude = -129.088412; captureRadius = 10; duration = 110; initialDepth = 2091.263904; finalDepth = 2091.958539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7124140000001 # Actual altitude: 81.7124140000001 # Commanded vehicle depth:2091.958539 # Seafloor depth:-2172.585651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.85; 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 = 326.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.674084 meters # Minimum depth: 2171.263904 meters looking forward 200.000000 meters along route # Maximum depth: 2173.059470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.263904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968545; longitude = -129.087877; captureRadius = 10; duration = 110; initialDepth = 2091.263904; finalDepth = 2091.263904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6271119999997 # Actual altitude: 80.6271119999997 # Commanded vehicle depth:2091.263904 # Seafloor depth:-2171.287191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.51; 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 = 322.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 110.674084 meters # Minimum depth: 2171.263904 meters looking forward 200.000000 meters along route # Maximum depth: 2176.734741 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.263904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969584; longitude = -129.087252; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.797526; finalDepth = 2091.263904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5336219999999 # Actual altitude: 80.5336219999999 # Commanded vehicle depth:2091.263904 # Seafloor depth:-2171.797526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.13; 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 = 322.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 110.674084 meters # Minimum depth: 2171.797526 meters looking forward 200.000000 meters along route # Maximum depth: 2178.138835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.797526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969314; longitude = -129.086182; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.081424; finalDepth = 2091.797526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3413090000004 # Actual altitude: 86.3413090000004 # Commanded vehicle depth:2091.797526 # Seafloor depth:-2178.138835 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 345.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.674084 meters # Minimum depth: 2171.081424 meters looking forward 200.000000 meters along route # Maximum depth: 2176.028756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.081424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968406; longitude = -129.086806; captureRadius = 10; duration = 110; initialDepth = 2089.199479; finalDepth = 2091.081424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3413090000004 # Actual altitude: 86.3413090000004 # Commanded vehicle depth:2091.081424 # Seafloor depth:-2173.457064 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 345.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.674084 meters # Minimum depth: 2169.199479 meters looking forward 200.000000 meters along route # Maximum depth: 2171.316404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.199479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967432; longitude = -129.087475; captureRadius = 10; duration = 110; initialDepth = 2089.199479; finalDepth = 2089.199479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3756400000002 # Actual altitude: 82.3756400000002 # Commanded vehicle depth:2089.199479 # Seafloor depth:-2170.864663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.50; 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 = 329.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.674084 meters # Minimum depth: 2169.199479 meters looking forward 200.000000 meters along route # Maximum depth: 2172.467394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.199479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966458; longitude = -129.088144; captureRadius = 10; duration = 110; initialDepth = 2090.810383; finalDepth = 2089.199479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.665184 # Actual altitude: 81.665184 # Commanded vehicle depth:2089.199479 # Seafloor depth:-2169.338870 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.674084 meters # Minimum depth: 2170.810383 meters looking forward 200.000000 meters along route # Maximum depth: 2175.777453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.810383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965485; longitude = -129.088814; captureRadius = 10; duration = 110; initialDepth = 2094.505738; finalDepth = 2090.810383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3264899999999 # Actual altitude: 82.3264899999999 # Commanded vehicle depth:2090.810383 # Seafloor depth:-2173.136873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.31; 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 = 329.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.674084 meters # Minimum depth: 2174.505738 meters looking forward 200.000000 meters along route # Maximum depth: 2183.641725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.505738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964511; longitude = -129.089483; captureRadius = 10; duration = 110; initialDepth = 2100.854130; finalDepth = 2094.505738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.62628 # Actual altitude: 82.62628 # Commanded vehicle depth:2094.505738 # Seafloor depth:-2177.132018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.674084 meters # Minimum depth: 2180.854130 meters looking forward 200.000000 meters along route # Maximum depth: 2186.304861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.854130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963537; longitude = -129.090152; captureRadius = 10; duration = 110; initialDepth = 2103.641725; finalDepth = 2100.854130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3097589999998 # Actual altitude: 84.3097589999998 # Commanded vehicle depth:2100.85413 # Seafloor depth:-2185.163889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 110.674084 meters # Minimum depth: 2183.641725 meters looking forward 200.000000 meters along route # Maximum depth: 2186.304861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.641725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962629; longitude = -129.090777; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2101.452920; finalDepth = 2103.641725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3097589999998 # Actual altitude: 84.3097589999998 # Commanded vehicle depth:2103.641725 # Seafloor depth:-2186.045247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 110.674084 meters # Minimum depth: 2181.452920 meters looking forward 200.000000 meters along route # Maximum depth: 2186.045247 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.452920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962394; longitude = -129.091357; captureRadius = 10; duration = 110; initialDepth = 2092.090199; finalDepth = 2101.452920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7612019999997 # Actual altitude: 83.7612019999997 # Commanded vehicle depth:2101.45292 # Seafloor depth:-2185.214122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.04; 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 = 335.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 110.674084 meters # Minimum depth: 2172.090199 meters looking forward 200.000000 meters along route # Maximum depth: 2184.375122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.090199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961906; longitude = -129.092561; captureRadius = 10; duration = 110; initialDepth = 2091.682617; finalDepth = 2092.090199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8654539999998 # Actual altitude: 88.8654539999998 # Commanded vehicle depth:2092.090199 # Seafloor depth:-2180.955653 # 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 = 17.77; 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 to get to end of line 32 # Segment length 110.674084 meters # Minimum depth: 2171.682617 meters looking forward 200.000000 meters along route # Maximum depth: 2179.835399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.682617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961400; longitude = -129.093810; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2093.205113; finalDepth = 2091.682617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8654539999998 # Actual altitude: 88.8654539999998 # Commanded vehicle depth:2091.682617 # Seafloor depth:-2171.682617 # 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 = 17.77; 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 32 # Segment length 110.674084 meters # Minimum depth: 2173.205113 meters looking forward 200.000000 meters along route # Maximum depth: 2180.347606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.205113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.094322; captureRadius = 10; duration = 110; initialDepth = 2099.521894; finalDepth = 2093.205113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.208419 # Actual altitude: 85.208419 # Commanded vehicle depth:2093.205113 # Seafloor depth:-2178.413532 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 340.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.674084 meters # Minimum depth: 2179.521894 meters looking forward 200.000000 meters along route # Maximum depth: 2183.572732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.521894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959631; longitude = -129.094851; captureRadius = 10; duration = 110; initialDepth = 2099.866285; finalDepth = 2099.521894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.208419 # Actual altitude: 85.208419 # Commanded vehicle depth:2099.521894 # Seafloor depth:-2180.384345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 340.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.674084 meters # Minimum depth: 2179.866285 meters looking forward 200.000000 meters along route # Maximum depth: 2183.572732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.866285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.095381; captureRadius = 10; duration = 110; initialDepth = 2093.057967; finalDepth = 2099.866285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6218199999998 # Actual altitude: 83.6218199999998 # Commanded vehicle depth:2099.866285 # Seafloor depth:-2183.488105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.49; 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 = 334.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.674084 meters # Minimum depth: 2173.057967 meters looking forward 200.000000 meters along route # Maximum depth: 2182.868975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.057967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957832; longitude = -129.095910; captureRadius = 10; duration = 110; initialDepth = 2084.105948; finalDepth = 2093.057967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.785202 # Actual altitude: 86.785202 # Commanded vehicle depth:2093.057967 # Seafloor depth:-2179.843169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 347.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.674084 meters # Minimum depth: 2164.105948 meters looking forward 200.000000 meters along route # Maximum depth: 2179.021934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.105948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956927; longitude = -129.096442; captureRadius = 10; duration = 110; initialDepth = 2078.463264; finalDepth = 2084.105948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9067150000001 # Actual altitude: 88.9067150000001 # Commanded vehicle depth:2084.105948 # Seafloor depth:-2173.012663 # 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 32 # Segment length 110.674084 meters # Minimum depth: 2158.463264 meters looking forward 200.000000 meters along route # Maximum depth: 2171.468912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.463264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956018; longitude = -129.096978; captureRadius = 10; duration = 110; initialDepth = 2077.211101; finalDepth = 2078.463264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9067150000001 # Actual altitude: 88.9067150000001 # Commanded vehicle depth:2078.463264 # Seafloor depth:-2163.902791 # 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 32 # Segment length 110.674084 meters # Minimum depth: 2157.211101 meters looking forward 200.000000 meters along route # Maximum depth: 2161.778477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.211101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955108; longitude = -129.097513; captureRadius = 10; duration = 110; initialDepth = 2076.776145; finalDepth = 2077.211101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.439527 # Actual altitude: 85.439527 # Commanded vehicle depth:2077.211101 # Seafloor depth:-2158.364198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.09; MB_Bottom_Detect_Filter_Max_Range = 341.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.674084 meters # Minimum depth: 2156.776145 meters looking forward 200.000000 meters along route # Maximum depth: 2157.948519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.776145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.098027; captureRadius = 10; duration = 110; initialDepth = 2076.689128; finalDepth = 2076.776145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1530970000003 # Actual altitude: 81.1530970000003 # Commanded vehicle depth:2076.776145 # Seafloor depth:-2157.215755 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.61; 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 = 324.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 110.674084 meters # Minimum depth: 2156.689128 meters looking forward 200.000000 meters along route # Maximum depth: 2167.026382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.689128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953365; longitude = -129.098539; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2076.689128; finalDepth = 2076.689128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4396100000004 # Actual altitude: 80.4396100000004 # Commanded vehicle depth:2076.689128 # Seafloor depth:-2156.689128 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.76; 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 = 321.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 110.674084 meters # Minimum depth: 2156.689128 meters looking forward 200.000000 meters along route # Maximum depth: 2183.607862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.689128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952664; longitude = -129.098048; captureRadius = 10; duration = 110; initialDepth = 2077.068742; finalDepth = 2076.689128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.0778190000001 # Actual altitude: 91.0778190000001 # Commanded vehicle depth:2076.689128 # Seafloor depth:-2167.766947 # 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 = 18.22; 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 30 # Segment length 110.674084 meters # Minimum depth: 2157.068742 meters looking forward 200.000000 meters along route # Maximum depth: 2185.428833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.068742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951836; longitude = -129.097468; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.375122; finalDepth = 2077.068742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.979435 # Actual altitude: 100 # Commanded vehicle depth:2077.068742 # Seafloor depth:-2185.048177 # 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 30 # Segment length 110.674084 meters # Minimum depth: 2172.030321 meters looking forward 200.000000 meters along route # Maximum depth: 2189.183350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.375122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951716; longitude = -129.097540; captureRadius = 10; duration = 110; initialDepth = 2106.900391; finalDepth = 2081.375122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.979435 # Actual altitude: 100 # Commanded vehicle depth:2081.3751217 # Seafloor depth:-2185.711914 # 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 30 # Segment length 110.674084 meters # Minimum depth: 2186.900391 meters looking forward 200.000000 meters along route # Maximum depth: 2190.353271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.900391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950817; longitude = -129.098075; captureRadius = 10; duration = 110; initialDepth = 2101.882935; finalDepth = 2106.900391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.336792300001 # Actual altitude: 100 # Commanded vehicle depth:2106.900391 # Seafloor depth:-2189.247998 # 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 30 # Segment length 110.674084 meters # Minimum depth: 2181.882935 meters looking forward 200.000000 meters along route # Maximum depth: 2190.353271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.882935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949917; longitude = -129.098610; captureRadius = 10; duration = 110; initialDepth = 2099.288086; finalDepth = 2101.882935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.295239 # Actual altitude: 87.295239 # Commanded vehicle depth:2101.882935 # Seafloor depth:-2189.178174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 349.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 110.674084 meters # Minimum depth: 2179.288086 meters looking forward 200.000000 meters along route # Maximum depth: 2187.792236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.288086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.099146; captureRadius = 10; duration = 110; initialDepth = 2092.634277; finalDepth = 2099.288086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.295239 # Actual altitude: 87.295239 # Commanded vehicle depth:2099.288086 # Seafloor depth:-2181.494043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 349.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 110.674084 meters # Minimum depth: 2172.634277 meters looking forward 200.000000 meters along route # Maximum depth: 2180.861816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.634277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.099681; captureRadius = 10; duration = 110; initialDepth = 2084.280762; finalDepth = 2092.634277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2634279999997 # Actual altitude: 86.2634279999997 # Commanded vehicle depth:2092.634277 # Seafloor depth:-2178.897705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.25; MB_Bottom_Detect_Filter_Max_Range = 345.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 110.674084 meters # Minimum depth: 2164.280762 meters looking forward 200.000000 meters along route # Maximum depth: 2178.013379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.280762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.100216; captureRadius = 10; duration = 110; initialDepth = 2081.711328; finalDepth = 2084.280762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9816890000002 # Actual altitude: 87.9816890000002 # Commanded vehicle depth:2084.280762 # Seafloor depth:-2172.262451 # 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 = 17.60; 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 30 # Segment length 110.674084 meters # Minimum depth: 2161.711328 meters looking forward 200.000000 meters along route # Maximum depth: 2171.432178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.711328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946365; longitude = -129.100725; captureRadius = 10; duration = 110; initialDepth = 2081.545166; finalDepth = 2081.711328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9816890000002 # Actual altitude: 87.9816890000002 # Commanded vehicle depth:2081.711328 # Seafloor depth:-2164.298218 # 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 = 17.60; 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 30 # Segment length 110.674084 meters # Minimum depth: 2161.545166 meters looking forward 200.000000 meters along route # Maximum depth: 2164.507129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.545166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945510; longitude = -129.101234; captureRadius = 10; duration = 110; initialDepth = 2081.545166; finalDepth = 2081.545166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.58689 # Actual altitude: 82.58689 # Commanded vehicle depth:2081.545166 # Seafloor depth:-2161.571191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.35; 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 = 330.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 110.674084 meters # Minimum depth: 2161.545166 meters looking forward 200.000000 meters along route # Maximum depth: 2164.600626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.545166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944641; longitude = -129.101751; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.882324; finalDepth = 2081.545166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.337321 # Actual altitude: 81.337321 # Commanded vehicle depth:2081.545166 # Seafloor depth:-2162.882487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.35; 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 = 325.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.674084 meters # Minimum depth: 2161.882324 meters looking forward 200.000000 meters along route # Maximum depth: 2193.744873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.882324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944663; longitude = -129.101528; captureRadius = 10; duration = 110; initialDepth = 2090.480895; finalDepth = 2081.882324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5616179999997 # Actual altitude: 85.5616179999997 # Commanded vehicle depth:2081.882324 # Seafloor depth:-2167.443942 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.25; 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 = 342.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.674084 meters # Minimum depth: 2170.480895 meters looking forward 200.000000 meters along route # Maximum depth: 2209.033936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.480895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944797; longitude = -129.100190; captureRadius = 10; duration = 110; initialDepth = 2108.133877; finalDepth = 2090.480895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.320152 # Actual altitude: 100 # Commanded vehicle depth:2090.480895 # Seafloor depth:-2194.801047 # 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 28 # Segment length 110.674084 meters # Minimum depth: 2188.133877 meters looking forward 200.000000 meters along route # Maximum depth: 2212.314167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.133877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944940; longitude = -129.098762; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2125.281656; finalDepth = 2108.133877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.320152 # Actual altitude: 100 # Commanded vehicle depth:2108.133877 # Seafloor depth:-2209.788900 # 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 28 # Segment length 110.674084 meters # Minimum depth: 2206.970138 meters looking forward 200.000000 meters along route # Maximum depth: 2215.645958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.281656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945420; longitude = -129.098486; captureRadius = 10; duration = 110; initialDepth = 2133.412350; finalDepth = 2125.281656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.655023 # Actual altitude: 100 # Commanded vehicle depth:2125.2816559 # Seafloor depth:-2212.800151 # 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 28 # Segment length 110.674084 meters # Minimum depth: 2213.412350 meters looking forward 200.000000 meters along route # Maximum depth: 2215.645958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.412350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946320; longitude = -129.097969; captureRadius = 10; duration = 110; initialDepth = 2133.372217; finalDepth = 2133.412350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5184950999992 # Actual altitude: 87.5184950999992 # Commanded vehicle depth:2133.41235 # Seafloor depth:-2215.574907 # 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 = 17.50; 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 28 # Segment length 110.674084 meters # Minimum depth: 2213.372217 meters looking forward 200.000000 meters along route # Maximum depth: 2215.038586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.372217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.097451; captureRadius = 10; duration = 110; initialDepth = 2133.372217; finalDepth = 2133.372217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1625570000001 # Actual altitude: 82.1625570000001 # Commanded vehicle depth:2133.372217 # Seafloor depth:-2214.273249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.65; 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 = 328.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.674084 meters # Minimum depth: 2213.372217 meters looking forward 200.000000 meters along route # Maximum depth: 2214.535972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.372217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.096934; captureRadius = 10; duration = 110; initialDepth = 2132.882044; finalDepth = 2133.372217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.163755 # Actual altitude: 81.163755 # Commanded vehicle depth:2133.372217 # Seafloor depth:-2214.535972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.66; 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 = 324.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.674084 meters # Minimum depth: 2212.882044 meters looking forward 200.000000 meters along route # Maximum depth: 2214.391646 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.882044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.096416; captureRadius = 10; duration = 110; initialDepth = 2132.882044; finalDepth = 2132.882044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.163755 # Actual altitude: 81.163755 # Commanded vehicle depth:2132.882044 # Seafloor depth:-2213.622759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.66; 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 = 324.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.674084 meters # Minimum depth: 2212.882044 meters looking forward 200.000000 meters along route # Maximum depth: 2217.079893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.882044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949917; longitude = -129.095899; captureRadius = 10; duration = 110; initialDepth = 2134.713070; finalDepth = 2132.882044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7407149999999 # Actual altitude: 80.7407149999999 # Commanded vehicle depth:2132.882044 # Seafloor depth:-2213.531877 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.96; 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 = 322.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.674084 meters # Minimum depth: 2214.713070 meters looking forward 200.000000 meters along route # Maximum depth: 2217.197004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.713070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950833; longitude = -129.095372; captureRadius = 10; duration = 110; initialDepth = 2132.463196; finalDepth = 2134.713070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.381519 # Actual altitude: 82.381519 # Commanded vehicle depth:2134.71307 # Seafloor depth:-2217.094589 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.53; 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 = 329.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 110.674084 meters # Minimum depth: 2212.463196 meters looking forward 200.000000 meters along route # Maximum depth: 2217.197004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.463196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951686; longitude = -129.094881; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2127.504517; finalDepth = 2132.463196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.820984 # Actual altitude: 83.820984 # Commanded vehicle depth:2132.463196 # Seafloor depth:-2216.284180 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.28; 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 = 335.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 110.674084 meters # Minimum depth: 2207.504517 meters looking forward 200.000000 meters along route # Maximum depth: 2216.176514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2127.504517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952525; longitude = -129.094301; captureRadius = 10; duration = 110; initialDepth = 2125.735320; finalDepth = 2127.504517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2862540000001 # Actual altitude: 84.2862540000001 # Commanded vehicle depth:2127.504517 # Seafloor depth:-2211.790771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 110.674084 meters # Minimum depth: 2205.735320 meters looking forward 200.000000 meters along route # Maximum depth: 2213.835937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.735320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953365; longitude = -129.093721; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2118.914742; finalDepth = 2125.735320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2862540000001 # Actual altitude: 84.2862540000001 # Commanded vehicle depth:2125.73532 # Seafloor depth:-2207.356445 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2198.914742 meters looking forward 200.000000 meters along route # Maximum depth: 2208.748610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2118.914742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953875; longitude = -129.093426; captureRadius = 10; duration = 110; initialDepth = 2116.172640; finalDepth = 2118.914742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2854259999999 # Actual altitude: 86.2854259999999 # Commanded vehicle depth:2118.914742 # Seafloor depth:-2205.200168 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 345.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2196.172640 meters looking forward 200.000000 meters along route # Maximum depth: 2203.959974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.172640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.092906; captureRadius = 10; duration = 110; initialDepth = 2114.781445; finalDepth = 2116.172640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2854259999999 # Actual altitude: 86.2854259999999 # Commanded vehicle depth:2116.17264 # Seafloor depth:-2198.261573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 345.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2194.781445 meters looking forward 200.000000 meters along route # Maximum depth: 2197.621657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.781445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.092387; captureRadius = 10; duration = 110; initialDepth = 2108.279335; finalDepth = 2114.781445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0889330000005 # Actual altitude: 82.0889330000005 # Commanded vehicle depth:2114.781445 # Seafloor depth:-2196.245536 # 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 26 # Segment length 110.674084 meters # Minimum depth: 2188.279335 meters looking forward 200.000000 meters along route # Maximum depth: 2196.383691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.279335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956529; longitude = -129.091892; captureRadius = 10; duration = 110; initialDepth = 2104.922586; finalDepth = 2108.279335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.200527 # Actual altitude: 86.200527 # Commanded vehicle depth:2108.279335 # Seafloor depth:-2194.479862 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 344.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2184.922586 meters looking forward 200.000000 meters along route # Maximum depth: 2193.618737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.922586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957382; longitude = -129.091399; captureRadius = 10; duration = 110; initialDepth = 2104.529923; finalDepth = 2104.922586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.200527 # Actual altitude: 86.200527 # Commanded vehicle depth:2104.922586 # Seafloor depth:-2187.658034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 344.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2184.529923 meters looking forward 200.000000 meters along route # Maximum depth: 2187.368400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.529923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958282; longitude = -129.090879; captureRadius = 10; duration = 110; initialDepth = 2104.545870; finalDepth = 2104.529923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7354479999999 # Actual altitude: 82.7354479999999 # Commanded vehicle depth:2104.529923 # Seafloor depth:-2184.675958 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 330.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2184.545870 meters looking forward 200.000000 meters along route # Maximum depth: 2194.481421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.545870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959181; longitude = -129.090359; captureRadius = 10; duration = 110; initialDepth = 2108.294683; finalDepth = 2104.545870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2507180000002 # Actual altitude: 83.2507180000002 # Commanded vehicle depth:2104.54587 # Seafloor depth:-2187.796588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 333.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2188.294683 meters looking forward 200.000000 meters along route # Maximum depth: 2197.626409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.294683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960080; longitude = -129.089839; captureRadius = 10; duration = 110; initialDepth = 2115.638847; finalDepth = 2108.294683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8114390000001 # Actual altitude: 86.8114390000001 # Commanded vehicle depth:2108.294683 # Seafloor depth:-2195.106122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 347.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2195.638847 meters looking forward 200.000000 meters along route # Maximum depth: 2198.376886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2115.638847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960928; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2117.704114; finalDepth = 2115.638847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8114390000001 # Actual altitude: 86.8114390000001 # Commanded vehicle depth:2115.638847 # Seafloor depth:-2197.694880 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 347.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2197.704114 meters looking forward 200.000000 meters along route # Maximum depth: 2198.495699 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.704114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961789; longitude = -129.088851; captureRadius = 10; duration = 110; initialDepth = 2117.704114; finalDepth = 2117.704114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0560329999998 # Actual altitude: 82.0560329999998 # Commanded vehicle depth:2117.704114 # Seafloor depth:-2197.994255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 328.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2197.704114 meters looking forward 200.000000 meters along route # Maximum depth: 2199.876701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.704114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962689; longitude = -129.088331; captureRadius = 10; duration = 110; initialDepth = 2116.149112; finalDepth = 2117.704114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9065759999999 # Actual altitude: 80.9065759999999 # Commanded vehicle depth:2117.704114 # Seafloor depth:-2198.610690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.63; 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 = 323.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2196.149112 meters looking forward 200.000000 meters along route # Maximum depth: 2199.876701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.149112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963588; longitude = -129.087811; captureRadius = 10; duration = 110; initialDepth = 2110.049677; finalDepth = 2116.149112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0559119999998 # Actual altitude: 83.0559119999998 # Commanded vehicle depth:2116.149112 # Seafloor depth:-2199.205024 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.22; 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 = 332.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2190.049677 meters looking forward 200.000000 meters along route # Maximum depth: 2198.586838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.049677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.087292; captureRadius = 10; duration = 110; initialDepth = 2109.068026; finalDepth = 2110.049677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.402517 # Actual altitude: 85.402517 # Commanded vehicle depth:2110.049677 # Seafloor depth:-2195.452194 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2189.068026 meters looking forward 200.000000 meters along route # Maximum depth: 2194.270955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.068026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.086772; captureRadius = 10; duration = 110; initialDepth = 2107.557653; finalDepth = 2109.068026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.402517 # Actual altitude: 85.402517 # Commanded vehicle depth:2109.068026 # Seafloor depth:-2189.846951 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2187.557653 meters looking forward 200.000000 meters along route # Maximum depth: 2189.889863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2107.557653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.086252; captureRadius = 10; duration = 110; initialDepth = 2103.190790; finalDepth = 2107.557653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.51863 # Actual altitude: 81.51863 # Commanded vehicle depth:2107.557653 # Seafloor depth:-2189.076283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.07; 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 = 326.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2183.190790 meters looking forward 200.000000 meters along route # Maximum depth: 2189.889863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.190790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.085732; captureRadius = 10; duration = 110; initialDepth = 2097.287945; finalDepth = 2103.190790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3137739999997 # Actual altitude: 84.3137739999997 # Commanded vehicle depth:2103.19079 # Seafloor depth:-2187.504564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.674084 meters # Minimum depth: 2177.287945 meters looking forward 200.000000 meters along route # Maximum depth: 2186.324311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.287945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968106; longitude = -129.085200; captureRadius = 10; duration = 110; initialDepth = 2086.976670; finalDepth = 2097.287945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8096169999999 # Actual altitude: 85.8096169999999 # Commanded vehicle depth:2097.287945 # Seafloor depth:-2183.097562 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.24; 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 = 343.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 110.674084 meters # Minimum depth: 2166.976670 meters looking forward 200.000000 meters along route # Maximum depth: 2183.632831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.976670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968955; longitude = -129.084709; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2058.995869; finalDepth = 2086.976670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.0158430000001 # Actual altitude: 90.0158430000001 # Commanded vehicle depth:2086.97667 # Seafloor depth:-2176.992513 # 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 = 18.00; 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 110.674084 meters # Minimum depth: 2138.995869 meters looking forward 200.000000 meters along route # Maximum depth: 2177.887911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.995869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968664; longitude = -129.083728; captureRadius = 10; duration = 110; initialDepth = 2057.982422; finalDepth = 2058.995869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.769639 # Actual altitude: 100 # Commanded vehicle depth:2058.995869 # Seafloor depth:-2164.765508 # 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 24 # Segment length 110.674084 meters # Minimum depth: 2137.982422 meters looking forward 200.000000 meters along route # Maximum depth: 2172.060547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.982422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968295; longitude = -129.082479; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2057.914562; finalDepth = 2057.982422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.769639 # Actual altitude: 100 # Commanded vehicle depth:2057.982422 # Seafloor depth:-2137.982422 # 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 110.674084 meters # Minimum depth: 2137.914562 meters looking forward 200.000000 meters along route # Maximum depth: 2147.601807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.914562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967905; longitude = -129.082705; captureRadius = 10; duration = 110; initialDepth = 2057.914562; finalDepth = 2057.914562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.109582 # Actual altitude: 82.109582 # Commanded vehicle depth:2057.914562 # Seafloor depth:-2140.024144 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.44; 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 = 328.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2137.914562 meters looking forward 200.000000 meters along route # Maximum depth: 2140.054549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.914562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967006; longitude = -129.083226; captureRadius = 10; duration = 110; initialDepth = 2058.703536; finalDepth = 2057.914562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.109582 # Actual altitude: 82.109582 # Commanded vehicle depth:2057.914562 # Seafloor depth:-2138.312146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.44; 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 = 328.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2138.703536 meters looking forward 200.000000 meters along route # Maximum depth: 2140.660746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.703536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966139; longitude = -129.083728; captureRadius = 10; duration = 110; initialDepth = 2059.514273; finalDepth = 2058.703536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1889759999999 # Actual altitude: 81.1889759999999 # Commanded vehicle depth:2058.703536 # Seafloor depth:-2139.892512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.76; 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 = 324.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2139.514273 meters looking forward 200.000000 meters along route # Maximum depth: 2149.159988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.514273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965297; longitude = -129.084216; captureRadius = 10; duration = 110; initialDepth = 2063.603652; finalDepth = 2059.514273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.092658 # Actual altitude: 82.092658 # Commanded vehicle depth:2059.514273 # Seafloor depth:-2141.606931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.37; 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 = 328.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2143.603652 meters looking forward 200.000000 meters along route # Maximum depth: 2153.381330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.603652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964398; longitude = -129.084737; captureRadius = 10; duration = 110; initialDepth = 2071.816735; finalDepth = 2063.603652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4893180000004 # Actual altitude: 86.4893180000004 # Commanded vehicle depth:2063.603652 # Seafloor depth:-2150.092970 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.96; 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 = 345.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2151.816735 meters looking forward 200.000000 meters along route # Maximum depth: 2158.649542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.816735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963498; longitude = -129.085258; captureRadius = 10; duration = 110; initialDepth = 2074.372865; finalDepth = 2071.816735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4893180000004 # Actual altitude: 86.4893180000004 # Commanded vehicle depth:2071.816735 # Seafloor depth:-2153.761427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.96; 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 = 345.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2154.372865 meters looking forward 200.000000 meters along route # Maximum depth: 2159.800045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.372865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962599; longitude = -129.085779; captureRadius = 10; duration = 110; initialDepth = 2079.208069; finalDepth = 2074.372865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6262770000003 # Actual altitude: 84.6262770000003 # Commanded vehicle depth:2074.372865 # Seafloor depth:-2158.999142 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.51; 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 = 338.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2159.208069 meters looking forward 200.000000 meters along route # Maximum depth: 2161.403469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.208069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961750; longitude = -129.086271; captureRadius = 10; duration = 110; initialDepth = 2079.690186; finalDepth = 2079.208069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6262770000003 # Actual altitude: 84.6262770000003 # Commanded vehicle depth:2079.208069 # Seafloor depth:-2159.824824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.51; 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 = 338.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2159.690186 meters looking forward 200.000000 meters along route # Maximum depth: 2163.664745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.690186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960890; longitude = -129.086769; captureRadius = 10; duration = 110; initialDepth = 2081.423651; finalDepth = 2079.690186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0652330000003 # Actual altitude: 82.0652330000003 # Commanded vehicle depth:2079.690186 # Seafloor depth:-2161.755419 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 328.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2161.423651 meters looking forward 200.000000 meters along route # Maximum depth: 2163.664745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.423651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959991; longitude = -129.087291; captureRadius = 10; duration = 110; initialDepth = 2081.423651; finalDepth = 2081.423651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0652330000003 # Actual altitude: 82.0652330000003 # Commanded vehicle depth:2081.423651 # Seafloor depth:-2162.284130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 328.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2161.423651 meters looking forward 200.000000 meters along route # Maximum depth: 2164.118884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.423651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.087812; captureRadius = 10; duration = 110; initialDepth = 2082.444379; finalDepth = 2081.423651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0739680000001 # Actual altitude: 82.0739680000001 # Commanded vehicle depth:2081.423651 # Seafloor depth:-2163.497619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 328.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2162.444379 meters looking forward 200.000000 meters along route # Maximum depth: 2167.343683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.444379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.088333; captureRadius = 10; duration = 110; initialDepth = 2082.514324; finalDepth = 2082.444379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0739680000001 # Actual altitude: 82.0739680000001 # Commanded vehicle depth:2082.444379 # Seafloor depth:-2162.444379 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 328.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2162.514324 meters looking forward 200.000000 meters along route # Maximum depth: 2176.820204 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.514324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957292; longitude = -129.088854; captureRadius = 10; duration = 110; initialDepth = 2089.027223; finalDepth = 2082.514324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5373729999997 # Actual altitude: 85.5373729999997 # Commanded vehicle depth:2082.514324 # Seafloor depth:-2168.051697 # 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; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.674084 meters # Minimum depth: 2169.027223 meters looking forward 200.000000 meters along route # Maximum depth: 2187.969219 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.027223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956438; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2098.369069; finalDepth = 2089.027223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5605460000002 # Actual altitude: 88.5605460000002 # Commanded vehicle depth:2089.027223 # Seafloor depth:-2177.587769 # 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 = 17.71; 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 110.674084 meters # Minimum depth: 2178.369069 meters looking forward 200.000000 meters along route # Maximum depth: 2188.360185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.369069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955583; longitude = -129.089844; captureRadius = 10; duration = 110; initialDepth = 2104.883138; finalDepth = 2098.369069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8453560000003 # Actual altitude: 89.8453560000003 # Commanded vehicle depth:2098.369069 # Seafloor depth:-2188.214425 # 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 = 17.97; 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 110.674084 meters # Minimum depth: 2184.883138 meters looking forward 200.000000 meters along route # Maximum depth: 2188.360185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.883138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954744; longitude = -129.090330; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2104.883138; finalDepth = 2104.883138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8453560000003 # Actual altitude: 89.8453560000003 # Commanded vehicle depth:2104.883138 # Seafloor depth:-2184.883138 # 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 = 17.97; 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 110.674084 meters # Minimum depth: 2184.883138 meters looking forward 200.000000 meters along route # Maximum depth: 2196.701437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.883138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954129; longitude = -129.091089; captureRadius = 10; duration = 110; initialDepth = 2109.324126; finalDepth = 2104.883138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5337949999998 # Actual altitude: 83.5337949999998 # Commanded vehicle depth:2104.883138 # Seafloor depth:-2188.416933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.14; 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 = 334.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.674084 meters # Minimum depth: 2189.324126 meters looking forward 200.000000 meters along route # Maximum depth: 2207.220898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.324126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953369; longitude = -129.092026; captureRadius = 10; duration = 110; initialDepth = 2113.017822; finalDepth = 2109.324126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.2309150000001 # Actual altitude: 88.2309150000001 # Commanded vehicle depth:2109.324126 # Seafloor depth:-2197.555041 # 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 = 17.65; 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 22 # Segment length 110.674084 meters # Minimum depth: 2193.017822 meters looking forward 200.000000 meters along route # Maximum depth: 2211.617387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.017822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952645; longitude = -129.092918; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2123.258899; finalDepth = 2113.017822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.1345220000003 # Actual altitude: 95.1345220000003 # Commanded vehicle depth:2113.017822 # Seafloor depth:-2208.152344 # 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 = 19.03; 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 22 # Segment length 110.674084 meters # Minimum depth: 2203.258899 meters looking forward 200.000000 meters along route # Maximum depth: 2223.343534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.258899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952256; longitude = -129.093148; captureRadius = 10; duration = 110; initialDepth = 2134.590613; finalDepth = 2123.258899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.1345220000003 # Actual altitude: 95.1345220000003 # Commanded vehicle depth:2123.258899 # Seafloor depth:-2212.633461 # 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 = 19.03; 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 22 # Segment length 110.674084 meters # Minimum depth: 2214.590613 meters looking forward 200.000000 meters along route # Maximum depth: 2226.603709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.590613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951356; longitude = -129.093680; captureRadius = 10; duration = 110; initialDepth = 2144.444743; finalDepth = 2134.590613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.374562 # Actual altitude: 89.374562 # Commanded vehicle depth:2134.590613 # Seafloor depth:-2223.817160 # 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 = 17.87; 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 22 # Segment length 110.674084 meters # Minimum depth: 2224.444743 meters looking forward 200.000000 meters along route # Maximum depth: 2227.303288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.444743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950457; longitude = -129.094212; captureRadius = 10; duration = 110; initialDepth = 2142.050470; finalDepth = 2144.444743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2265470000002 # Actual altitude: 89.2265470000002 # Commanded vehicle depth:2144.444743 # Seafloor depth:-2226.927490 # 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 = 17.85; 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 22 # Segment length 110.674084 meters # Minimum depth: 2222.050470 meters looking forward 200.000000 meters along route # Maximum depth: 2227.303288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.050470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949557; longitude = -129.094743; captureRadius = 10; duration = 110; initialDepth = 2138.716145; finalDepth = 2142.050470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4252179999999 # Actual altitude: 83.4252179999999 # Commanded vehicle depth:2142.05047 # Seafloor depth:-2225.475688 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.70; 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 = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 110.674084 meters # Minimum depth: 2218.716145 meters looking forward 200.000000 meters along route # Maximum depth: 2225.196438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2138.716145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.095275; captureRadius = 10; duration = 110; initialDepth = 2136.109415; finalDepth = 2138.716145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4252179999999 # Actual altitude: 83.4252179999999 # Commanded vehicle depth:2138.716145 # Seafloor depth:-2221.907878 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.70; 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 = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 110.674084 meters # Minimum depth: 2216.109415 meters looking forward 200.000000 meters along route # Maximum depth: 2221.768383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2136.109415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947815; longitude = -129.095773; captureRadius = 10; duration = 110; initialDepth = 2134.104831; finalDepth = 2136.109415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1917330000001 # Actual altitude: 83.1917330000001 # Commanded vehicle depth:2136.109415 # Seafloor depth:-2218.494014 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 110.674084 meters # Minimum depth: 2214.104831 meters looking forward 200.000000 meters along route # Maximum depth: 2217.542532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.104831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946949; longitude = -129.096285; captureRadius = 10; duration = 110; initialDepth = 2130.488232; finalDepth = 2134.104831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7644609999998 # Actual altitude: 82.7644609999998 # Commanded vehicle depth:2134.104831 # Seafloor depth:-2216.869292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 331.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 110.674084 meters # Minimum depth: 2210.488232 meters looking forward 200.000000 meters along route # Maximum depth: 2217.220847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.488232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946080; longitude = -129.096799; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2116.264478; finalDepth = 2130.488232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.424203 # Actual altitude: 83.424203 # Commanded vehicle depth:2130.488232 # Seafloor depth:-2213.912435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.68; MB_Bottom_Detect_Filter_Max_Range = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 110.674084 meters # Minimum depth: 2196.264478 meters looking forward 200.000000 meters along route # Maximum depth: 2215.074591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.264478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945510; longitude = -129.096757; captureRadius = 10; duration = 110; initialDepth = 2105.336682; finalDepth = 2116.264478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.3240719999999 # Actual altitude: 93.3240719999999 # Commanded vehicle depth:2116.264478 # Seafloor depth:-2209.588550 # 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 = 18.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 110.674084 meters # Minimum depth: 2185.336682 meters looking forward 200.000000 meters along route # Maximum depth: 2208.535669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.336682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944611; longitude = -129.096690; captureRadius = 10; duration = 110; initialDepth = 2105.336682; finalDepth = 2105.336682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.3240719999999 # Actual altitude: 93.3240719999999 # Commanded vehicle depth:2105.336682 # Seafloor depth:-2194.448145 # 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 = 18.66; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 110.674084 meters # Minimum depth: 2185.336682 meters looking forward 200.000000 meters along route # Maximum depth: 2207.215393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.336682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943681; longitude = -129.096621; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2105.336682; finalDepth = 2105.336682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1114629999997 # Actual altitude: 89.1114629999997 # Commanded vehicle depth:2105.336682 # Seafloor depth:-2185.800130 # 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 = 17.82; 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 20 # Segment length 110.674084 meters # Minimum depth: 2185.336682 meters looking forward 200.000000 meters along route # Maximum depth: 2192.764437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.336682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943621; longitude = -129.096656; captureRadius = 10; duration = 110; initialDepth = 2108.871286; finalDepth = 2105.336682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2452589999998 # Actual altitude: 81.2452589999998 # Commanded vehicle depth:2105.336682 # Seafloor depth:-2186.581941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.98; 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 = 324.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2188.871286 meters looking forward 200.000000 meters along route # Maximum depth: 2201.583869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.871286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.097182; captureRadius = 10; duration = 110; initialDepth = 2115.389928; finalDepth = 2108.871286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6340799999998 # Actual altitude: 84.6340799999998 # Commanded vehicle depth:2108.871286 # Seafloor depth:-2193.505366 # 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 20 # Segment length 110.674084 meters # Minimum depth: 2195.389928 meters looking forward 200.000000 meters along route # Maximum depth: 2207.840820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2115.389928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941823; longitude = -129.097708; captureRadius = 10; duration = 110; initialDepth = 2122.179378; finalDepth = 2115.389928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3709819999999 # Actual altitude: 86.3709819999999 # Commanded vehicle depth:2115.389928 # Seafloor depth:-2201.760910 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 345.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2202.179378 meters looking forward 200.000000 meters along route # Maximum depth: 2209.140925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.179378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940923; longitude = -129.098235; captureRadius = 10; duration = 110; initialDepth = 2124.817892; finalDepth = 2122.179378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.468269 # Actual altitude: 86.468269 # Commanded vehicle depth:2122.179378 # Seafloor depth:-2208.647647 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2204.817892 meters looking forward 200.000000 meters along route # Maximum depth: 2209.140925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.817892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940024; longitude = -129.098761; captureRadius = 10; duration = 110; initialDepth = 2124.222686; finalDepth = 2124.817892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.468269 # Actual altitude: 86.468269 # Commanded vehicle depth:2124.817892 # Seafloor depth:-2207.486652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2204.222686 meters looking forward 200.000000 meters along route # Maximum depth: 2208.240874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.222686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939124; longitude = -129.099287; captureRadius = 10; duration = 110; initialDepth = 2124.278416; finalDepth = 2124.222686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.66876 # Actual altitude: 82.66876 # Commanded vehicle depth:2124.222686 # Seafloor depth:-2204.427973 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2204.278416 meters looking forward 200.000000 meters along route # Maximum depth: 2207.294414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.278416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938225; longitude = -129.099814; captureRadius = 10; duration = 110; initialDepth = 2124.278416; finalDepth = 2124.278416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9480859999999 # Actual altitude: 80.9480859999999 # Commanded vehicle depth:2124.278416 # Seafloor depth:-2205.226502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.79; 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 = 323.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2204.278416 meters looking forward 200.000000 meters along route # Maximum depth: 2213.750313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.278416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937354; longitude = -129.100323; captureRadius = 10; duration = 110; initialDepth = 2128.878895; finalDepth = 2124.278416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5717300000001 # Actual altitude: 83.5717300000001 # Commanded vehicle depth:2124.278416 # Seafloor depth:-2207.850146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.29; 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 = 334.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2208.878895 meters looking forward 200.000000 meters along route # Maximum depth: 2224.491005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2128.878895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936516; longitude = -129.100814; captureRadius = 10; duration = 110; initialDepth = 2136.334791; finalDepth = 2128.878895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6783050000004 # Actual altitude: 85.6783050000004 # Commanded vehicle depth:2128.878895 # Seafloor depth:-2214.557200 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.71; 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 = 342.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2216.334791 meters looking forward 200.000000 meters along route # Maximum depth: 2232.891360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2136.334791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935617; longitude = -129.101340; captureRadius = 10; duration = 110; initialDepth = 2147.776022; finalDepth = 2136.334791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2467849999998 # Actual altitude: 89.2467849999998 # Commanded vehicle depth:2136.334791 # Seafloor depth:-2225.581576 # 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 = 17.85; 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 20 # Segment length 110.674084 meters # Minimum depth: 2227.776022 meters looking forward 200.000000 meters along route # Maximum depth: 2243.413475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2147.776022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934717; longitude = -129.101866; captureRadius = 10; duration = 110; initialDepth = 2157.672585; finalDepth = 2147.776022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2467849999998 # Actual altitude: 89.2467849999998 # Commanded vehicle depth:2147.776022 # Seafloor depth:-2234.455188 # 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 = 17.85; 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 20 # Segment length 110.674084 meters # Minimum depth: 2237.672585 meters looking forward 200.000000 meters along route # Maximum depth: 2244.330276 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.672585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933818; longitude = -129.102393; captureRadius = 10; duration = 110; initialDepth = 2162.995778; finalDepth = 2157.672585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6791659999999 # Actual altitude: 86.6791659999999 # Commanded vehicle depth:2157.672585 # Seafloor depth:-2243.879672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.72; 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 = 346.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2242.995778 meters looking forward 200.000000 meters along route # Maximum depth: 2246.179004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2162.995778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932918; longitude = -129.102919; captureRadius = 10; duration = 110; initialDepth = 2164.130947; finalDepth = 2162.995778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2070870000002 # Actual altitude: 86.2070870000002 # Commanded vehicle depth:2162.995778 # Seafloor depth:-2243.772269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 344.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2244.130947 meters looking forward 200.000000 meters along route # Maximum depth: 2249.305368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.130947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932019; longitude = -129.103445; captureRadius = 10; duration = 110; initialDepth = 2166.677073; finalDepth = 2164.130947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2722169999997 # Actual altitude: 82.2722169999997 # Commanded vehicle depth:2164.130947 # Seafloor depth:-2246.403164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.09; 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 = 329.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.674084 meters # Minimum depth: 2246.677073 meters looking forward 200.000000 meters along route # Maximum depth: 2252.928993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.677073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931179; longitude = -129.103937; captureRadius = 10; duration = 110; initialDepth = 2167.633504; finalDepth = 2166.677073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7436860000003 # Actual altitude: 82.7436860000003 # Commanded vehicle depth:2166.677073 # Seafloor depth:-2249.420759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 330.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 110.674084 meters # Minimum depth: 2247.633504 meters looking forward 200.000000 meters along route # Maximum depth: 2253.711494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2167.633504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930340; longitude = -129.104428; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2166.178819; finalDepth = 2167.633504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3612880000001 # Actual altitude: 85.3612880000001 # Commanded vehicle depth:2167.633504 # Seafloor depth:-2252.994792 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 341.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 110.674084 meters # Minimum depth: 2246.178819 meters looking forward 200.000000 meters along route # Maximum depth: 2253.714163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.178819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930040; longitude = -129.104184; captureRadius = 10; duration = 110; initialDepth = 2158.058974; finalDepth = 2166.178819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5353439999999 # Actual altitude: 87.5353439999999 # Commanded vehicle depth:2166.178819 # Seafloor depth:-2253.714163 # 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 = 17.51; 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 110.674084 meters # Minimum depth: 2238.058974 meters looking forward 200.000000 meters along route # Maximum depth: 2253.590712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2158.058974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929231; longitude = -129.103527; captureRadius = 10; duration = 110; initialDepth = 2157.456939; finalDepth = 2158.058974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9483059999998 # Actual altitude: 87.9483059999998 # Commanded vehicle depth:2158.058974 # Seafloor depth:-2246.007280 # 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 18 # Segment length 110.674084 meters # Minimum depth: 2237.456939 meters looking forward 200.000000 meters along route # Maximum depth: 2253.009018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.456939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928361; longitude = -129.102822; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2154.171121; finalDepth = 2157.456939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9483059999998 # Actual altitude: 87.9483059999998 # Commanded vehicle depth:2157.456939 # Seafloor depth:-2237.822266 # 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 18 # Segment length 110.674084 meters # Minimum depth: 2234.171121 meters looking forward 200.000000 meters along route # Maximum depth: 2241.734627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2154.171121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928527; longitude = -129.102733; captureRadius = 10; duration = 110; initialDepth = 2152.617468; finalDepth = 2154.171121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2272740000003 # Actual altitude: 83.2272740000003 # Commanded vehicle depth:2154.171121 # Seafloor depth:-2237.398395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 332.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2232.617468 meters looking forward 200.000000 meters along route # Maximum depth: 2237.082691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2152.617468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929411; longitude = -129.102256; captureRadius = 10; duration = 110; initialDepth = 2151.370686; finalDepth = 2152.617468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2272740000003 # Actual altitude: 83.2272740000003 # Commanded vehicle depth:2152.617468 # Seafloor depth:-2234.265429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 332.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2231.370686 meters looking forward 200.000000 meters along route # Maximum depth: 2234.134723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.370686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930265; longitude = -129.101796; captureRadius = 10; duration = 110; initialDepth = 2144.751889; finalDepth = 2151.370686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6479610000001 # Actual altitude: 81.6479610000001 # Commanded vehicle depth:2151.370686 # Seafloor depth:-2232.480225 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2224.751889 meters looking forward 200.000000 meters along route # Maximum depth: 2232.196929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.751889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931120; longitude = -129.101335; captureRadius = 10; duration = 110; initialDepth = 2140.686202; finalDepth = 2144.751889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2915760000001 # Actual altitude: 86.2915760000001 # Commanded vehicle depth:2144.751889 # Seafloor depth:-2231.043465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 345.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2220.686202 meters looking forward 200.000000 meters along route # Maximum depth: 2230.201209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.686202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932019; longitude = -129.100850; captureRadius = 10; duration = 110; initialDepth = 2137.798908; finalDepth = 2140.686202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2915760000001 # Actual altitude: 86.2915760000001 # Commanded vehicle depth:2140.686202 # Seafloor depth:-2224.586533 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 345.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2217.798908 meters looking forward 200.000000 meters along route # Maximum depth: 2222.661035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.798908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932918; longitude = -129.100366; captureRadius = 10; duration = 110; initialDepth = 2128.813100; finalDepth = 2137.798908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9003310000003 # Actual altitude: 83.9003310000003 # Commanded vehicle depth:2137.798908 # Seafloor depth:-2221.034993 # 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 18 # Segment length 110.674084 meters # Minimum depth: 2208.813100 meters looking forward 200.000000 meters along route # Maximum depth: 2220.511888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2128.813100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933818; longitude = -129.099881; captureRadius = 10; duration = 110; initialDepth = 2119.285362; finalDepth = 2128.813100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5244000000002 # Actual altitude: 88.5244000000002 # Commanded vehicle depth:2128.8131 # Seafloor depth:-2217.337500 # 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 = 17.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2199.285362 meters looking forward 200.000000 meters along route # Maximum depth: 2215.977284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.285362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934735; longitude = -129.099387; captureRadius = 10; duration = 110; initialDepth = 2113.472435; finalDepth = 2119.285362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.207324 # Actual altitude: 89.207324 # Commanded vehicle depth:2119.285362 # Seafloor depth:-2208.492686 # 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 = 17.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2193.472435 meters looking forward 200.000000 meters along route # Maximum depth: 2207.311712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.472435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935617; longitude = -129.098911; captureRadius = 10; duration = 110; initialDepth = 2107.584586; finalDepth = 2113.472435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.207324 # Actual altitude: 89.207324 # Commanded vehicle depth:2113.472435 # Seafloor depth:-2198.964461 # 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 = 17.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2187.584586 meters looking forward 200.000000 meters along route # Maximum depth: 2198.567366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2107.584586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936473; longitude = -129.098450; captureRadius = 10; duration = 110; initialDepth = 2103.007818; finalDepth = 2107.584586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.593711 # Actual altitude: 85.593711 # Commanded vehicle depth:2107.584586 # Seafloor depth:-2193.178297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.37; 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 = 342.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2183.007818 meters looking forward 200.000000 meters along route # Maximum depth: 2192.319995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.007818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937326; longitude = -129.097990; captureRadius = 10; duration = 110; initialDepth = 2102.040879; finalDepth = 2103.007818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.593711 # Actual altitude: 85.593711 # Commanded vehicle depth:2103.007818 # Seafloor depth:-2187.278809 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.37; 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 = 342.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2182.040879 meters looking forward 200.000000 meters along route # Maximum depth: 2187.134691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.040879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938225; longitude = -129.097506; captureRadius = 10; duration = 110; initialDepth = 2098.888739; finalDepth = 2102.040879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2709909999999 # Actual altitude: 84.2709909999999 # Commanded vehicle depth:2102.040879 # Seafloor depth:-2182.937129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.08; 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 = 337.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2178.888739 meters looking forward 200.000000 meters along route # Maximum depth: 2183.311668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.888739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939124; longitude = -129.097021; captureRadius = 10; duration = 110; initialDepth = 2098.888739; finalDepth = 2098.888739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7191290000001 # Actual altitude: 82.7191290000001 # Commanded vehicle depth:2098.888739 # Seafloor depth:-2181.607868 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.88; 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 = 330.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2178.888739 meters looking forward 200.000000 meters along route # Maximum depth: 2181.605857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.888739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940024; longitude = -129.096536; captureRadius = 10; duration = 110; initialDepth = 2099.339058; finalDepth = 2098.888739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7191290000001 # Actual altitude: 82.7191290000001 # Commanded vehicle depth:2098.888739 # Seafloor depth:-2179.000481 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.88; 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 = 330.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2179.339058 meters looking forward 200.000000 meters along route # Maximum depth: 2181.701535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.339058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940943; longitude = -129.096041; captureRadius = 10; duration = 110; initialDepth = 2096.125344; finalDepth = 2099.339058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2826829999999 # Actual altitude: 82.2826829999999 # Commanded vehicle depth:2099.339058 # Seafloor depth:-2181.621741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.13; 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 = 329.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2176.125344 meters looking forward 200.000000 meters along route # Maximum depth: 2181.701535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.125344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941823; longitude = -129.095567; captureRadius = 10; duration = 110; initialDepth = 2093.828484; finalDepth = 2096.125344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1175490000001 # Actual altitude: 83.1175490000001 # Commanded vehicle depth:2096.125344 # Seafloor depth:-2179.242893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.674084 meters # Minimum depth: 2173.828484 meters looking forward 200.000000 meters along route # Maximum depth: 2178.496438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.828484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.095082; captureRadius = 10; duration = 110; initialDepth = 2088.070613; finalDepth = 2093.828484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1175490000001 # Actual altitude: 83.1175490000001 # Commanded vehicle depth:2093.828484 # Seafloor depth:-2176.616663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 110.674084 meters # Minimum depth: 2168.070613 meters looking forward 200.000000 meters along route # Maximum depth: 2176.639256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.070613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943591; longitude = -129.094613; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2072.289006; finalDepth = 2088.070613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.411321 # Actual altitude: 85.411321 # Commanded vehicle depth:2088.070613 # Seafloor depth:-2173.481934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 110.674084 meters # Minimum depth: 2152.289006 meters looking forward 200.000000 meters along route # Maximum depth: 2175.128927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.289006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943711; longitude = -129.094149; captureRadius = 10; duration = 110; initialDepth = 2063.905471; finalDepth = 2072.289006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.565063 # Actual altitude: 95.565063 # Commanded vehicle depth:2072.289006 # Seafloor depth:-2167.854069 # 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 = 19.11; 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 16 # Segment length 110.674084 meters # Minimum depth: 2143.905471 meters looking forward 200.000000 meters along route # Maximum depth: 2166.429281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.905471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944041; longitude = -129.092873; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2053.811427; finalDepth = 2063.905471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.565063 # Actual altitude: 95.565063 # Commanded vehicle depth:2063.905471 # Seafloor depth:-2151.276693 # 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 = 19.11; 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 16 # Segment length 110.674084 meters # Minimum depth: 2133.811427 meters looking forward 200.000000 meters along route # Maximum depth: 2150.700079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.811427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944881; longitude = -129.092425; captureRadius = 10; duration = 110; initialDepth = 2045.786080; finalDepth = 2053.811427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.0504999999998 # Actual altitude: 90.0504999999998 # Commanded vehicle depth:2053.811427 # Seafloor depth:-2143.861927 # 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 = 18.01; 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 16 # Segment length 110.674084 meters # Minimum depth: 2125.786080 meters looking forward 200.000000 meters along route # Maximum depth: 2142.240804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.786080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945780; longitude = -129.091944; captureRadius = 10; duration = 110; initialDepth = 2045.314093; finalDepth = 2045.786080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.0504999999998 # Actual altitude: 90.0504999999998 # Commanded vehicle depth:2045.78608 # Seafloor depth:-2132.429817 # 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 = 18.01; 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 16 # Segment length 110.674084 meters # Minimum depth: 2125.314093 meters looking forward 200.000000 meters along route # Maximum depth: 2131.509344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.314093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946679; longitude = -129.091464; captureRadius = 10; duration = 110; initialDepth = 2044.909048; finalDepth = 2045.314093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6437370000003 # Actual altitude: 86.6437370000003 # Commanded vehicle depth:2045.314093 # Seafloor depth:-2125.560165 # 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 to get to end of line 15 # Segment length 110.674084 meters # Minimum depth: 2124.909048 meters looking forward 200.000000 meters along route # Maximum depth: 2126.572702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.909048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947549; longitude = -129.091000; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2043.214857; finalDepth = 2044.909048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2600600000001 # Actual altitude: 81.2600600000001 # Commanded vehicle depth:2044.909048 # Seafloor depth:-2126.169108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.04; 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 = 325.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.674084 meters # Minimum depth: 2123.214857 meters looking forward 200.000000 meters along route # Maximum depth: 2126.567683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.214857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948208; longitude = -129.090842; captureRadius = 10; duration = 110; initialDepth = 2043.214857; finalDepth = 2043.214857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2600600000001 # Actual altitude: 81.2600600000001 # Commanded vehicle depth:2043.214857 # Seafloor depth:-2124.140231 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.04; 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 = 325.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.674084 meters # Minimum depth: 2123.214857 meters looking forward 200.000000 meters along route # Maximum depth: 2130.677373 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.214857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949108; longitude = -129.090627; captureRadius = 10; duration = 110; initialDepth = 2045.628718; finalDepth = 2043.214857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0090639999999 # Actual altitude: 82.0090639999999 # Commanded vehicle depth:2043.214857 # Seafloor depth:-2125.223921 # 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 15 # Segment length 110.674084 meters # Minimum depth: 2125.628718 meters looking forward 200.000000 meters along route # Maximum depth: 2138.555997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.628718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950007; longitude = -129.090411; captureRadius = 10; duration = 110; initialDepth = 2052.116206; finalDepth = 2045.628718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3966850000002 # Actual altitude: 85.3966850000002 # Commanded vehicle depth:2045.628718 # Seafloor depth:-2131.025403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 341.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.674084 meters # Minimum depth: 2132.116206 meters looking forward 200.000000 meters along route # Maximum depth: 2139.741354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.116206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950907; longitude = -129.090196; captureRadius = 10; duration = 110; initialDepth = 2054.596066; finalDepth = 2052.116206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7810519999998 # Actual altitude: 86.7810519999998 # Commanded vehicle depth:2052.116206 # Seafloor depth:-2138.897258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 347.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 110.674084 meters # Minimum depth: 2134.596066 meters looking forward 200.000000 meters along route # Maximum depth: 2139.741354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.596066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951836; longitude = -129.089974; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2052.225930; finalDepth = 2054.596066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7810519999998 # Actual altitude: 86.7810519999998 # Commanded vehicle depth:2054.596066 # Seafloor depth:-2138.159668 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 347.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2132.225930 meters looking forward 200.000000 meters along route # Maximum depth: 2138.897461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.225930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952466; longitude = -129.089617; captureRadius = 10; duration = 110; initialDepth = 2052.225930; finalDepth = 2052.225930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5636019999997 # Actual altitude: 83.5636019999997 # Commanded vehicle depth:2052.22593 # Seafloor depth:-2134.469450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.25; 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 = 334.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2132.225930 meters looking forward 200.000000 meters along route # Maximum depth: 2138.951436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.225930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953335; longitude = -129.089124; captureRadius = 10; duration = 110; initialDepth = 2053.142049; finalDepth = 2052.225930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.24352 # Actual altitude: 82.24352 # Commanded vehicle depth:2052.22593 # Seafloor depth:-2132.375147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.97; 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 = 328.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2133.142049 meters looking forward 200.000000 meters along route # Maximum depth: 2143.756777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.142049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.088615; captureRadius = 10; duration = 110; initialDepth = 2051.889753; finalDepth = 2053.142049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7732339999998 # Actual altitude: 86.7732339999998 # Commanded vehicle depth:2053.142049 # Seafloor depth:-2139.915283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.09; 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 = 347.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2131.889753 meters looking forward 200.000000 meters along route # Maximum depth: 2143.756777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.889753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955134; longitude = -129.088105; captureRadius = 10; duration = 110; initialDepth = 2042.985048; finalDepth = 2051.889753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4159210000003 # Actual altitude: 91.4159210000003 # Commanded vehicle depth:2051.889753 # Seafloor depth:-2143.305674 # 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 = 18.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2122.985048 meters looking forward 200.000000 meters along route # Maximum depth: 2141.834991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.985048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956033; longitude = -129.087596; captureRadius = 10; duration = 110; initialDepth = 2039.629297; finalDepth = 2042.985048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4159210000003 # Actual altitude: 91.4159210000003 # Commanded vehicle depth:2042.985048 # Seafloor depth:-2131.550254 # 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 = 18.28; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2119.629297 meters looking forward 200.000000 meters along route # Maximum depth: 2129.452695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.629297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956955; longitude = -129.087074; captureRadius = 10; duration = 110; initialDepth = 2039.629297; finalDepth = 2039.629297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5652060000002 # Actual altitude: 88.5652060000002 # Commanded vehicle depth:2039.629297 # Seafloor depth:-2122.820919 # 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 = 17.71; 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 14 # Segment length 110.674084 meters # Minimum depth: 2119.629297 meters looking forward 200.000000 meters along route # Maximum depth: 2126.006946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.629297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957832; longitude = -129.086577; captureRadius = 10; duration = 110; initialDepth = 2042.362021; finalDepth = 2039.629297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1916219999998 # Actual altitude: 83.1916219999998 # Commanded vehicle depth:2039.629297 # Seafloor depth:-2120.759544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2122.362021 meters looking forward 200.000000 meters along route # Maximum depth: 2126.119810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.362021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.086067; captureRadius = 10; duration = 110; initialDepth = 2042.175849; finalDepth = 2042.362021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7577890000002 # Actual altitude: 83.7577890000002 # Commanded vehicle depth:2042.362021 # Seafloor depth:-2126.119810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.03; 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 = 335.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2122.175849 meters looking forward 200.000000 meters along route # Maximum depth: 2125.955748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.175849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959631; longitude = -129.085558; captureRadius = 10; duration = 110; initialDepth = 2040.358332; finalDepth = 2042.175849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7577890000002 # Actual altitude: 83.7577890000002 # Commanded vehicle depth:2042.175849 # Seafloor depth:-2124.435878 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.03; 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 = 335.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2120.358332 meters looking forward 200.000000 meters along route # Maximum depth: 2124.171062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.358332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.085048; captureRadius = 10; duration = 110; initialDepth = 2040.071940; finalDepth = 2040.358332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2600289999996 # Actual altitude: 82.2600289999996 # Commanded vehicle depth:2040.358332 # Seafloor depth:-2122.051828 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.04; 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 = 329.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2120.071940 meters looking forward 200.000000 meters along route # Maximum depth: 2121.420218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.071940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961444; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2035.679665; finalDepth = 2040.071940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6934960000003 # Actual altitude: 81.6934960000003 # Commanded vehicle depth:2040.07194 # Seafloor depth:-2120.340280 # 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 14 # Segment length 110.674084 meters # Minimum depth: 2115.679665 meters looking forward 200.000000 meters along route # Maximum depth: 2120.403170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.679665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962329; longitude = -129.084030; captureRadius = 10; duration = 110; initialDepth = 2034.666475; finalDepth = 2035.679665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2645119999997 # Actual altitude: 84.2645119999997 # Commanded vehicle depth:2035.679665 # Seafloor depth:-2119.944177 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.06; 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 = 337.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2114.666475 meters looking forward 200.000000 meters along route # Maximum depth: 2119.235298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.666475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963228; longitude = -129.083520; captureRadius = 10; duration = 110; initialDepth = 2032.568942; finalDepth = 2034.666475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2645119999997 # Actual altitude: 84.2645119999997 # Commanded vehicle depth:2034.666475 # Seafloor depth:-2115.591893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.06; 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 = 337.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2112.568942 meters looking forward 200.000000 meters along route # Maximum depth: 2115.574312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.568942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964128; longitude = -129.083011; captureRadius = 10; duration = 110; initialDepth = 2028.579901; finalDepth = 2032.568942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.916929 # Actual altitude: 81.916929 # Commanded vehicle depth:2032.568942 # Seafloor depth:-2114.485871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2108.579901 meters looking forward 200.000000 meters along route # Maximum depth: 2114.377580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.579901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964988; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2027.768838; finalDepth = 2028.579901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.723129 # Actual altitude: 83.723129 # Commanded vehicle depth:2028.579901 # Seafloor depth:-2112.303030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 334.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2107.768838 meters looking forward 200.000000 meters along route # Maximum depth: 2111.620111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.768838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965837; longitude = -129.082043; captureRadius = 10; duration = 110; initialDepth = 2025.834057; finalDepth = 2027.768838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.723129 # Actual altitude: 83.723129 # Commanded vehicle depth:2027.768838 # Seafloor depth:-2108.338681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 334.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.674084 meters # Minimum depth: 2105.834057 meters looking forward 200.000000 meters along route # Maximum depth: 2108.433509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.834057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966736; longitude = -129.081533; captureRadius = 10; duration = 110; initialDepth = 2019.325928; finalDepth = 2025.834057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.717506 # Actual altitude: 81.717506 # Commanded vehicle depth:2025.834057 # Seafloor depth:-2107.551563 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.87; 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 = 326.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 110.674084 meters # Minimum depth: 2099.325928 meters looking forward 200.000000 meters along route # Maximum depth: 2107.311554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.325928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967665; longitude = -129.081007; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2019.325928; finalDepth = 2019.325928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3944499999998 # Actual altitude: 86.3944499999998 # Commanded vehicle depth:2019.325928 # Seafloor depth:-2105.720378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.58; 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 = 345.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.674084 meters # Minimum depth: 2099.325928 meters looking forward 200.000000 meters along route # Maximum depth: 2102.926208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.325928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967361; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2019.450513; finalDepth = 2019.325928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3944499999998 # Actual altitude: 86.3944499999998 # Commanded vehicle depth:2019.325928 # Seafloor depth:-2099.599109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.58; 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 = 345.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 110.674084 meters # Minimum depth: 2099.450513 meters looking forward 200.000000 meters along route # Maximum depth: 2101.820662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.450513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967036; longitude = -129.078330; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2019.698893; finalDepth = 2019.450513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.273181 # Actual altitude: 80.273181 # Commanded vehicle depth:2019.450513 # Seafloor depth:-2099.698893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.09; 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 = 321.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2099.698893 meters looking forward 200.000000 meters along route # Maximum depth: 2106.305118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.698893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966376; longitude = -129.078717; captureRadius = 10; duration = 110; initialDepth = 2022.794220; finalDepth = 2019.698893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.430891 # Actual altitude: 82.430891 # Commanded vehicle depth:2019.698893 # Seafloor depth:-2102.129784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.72; 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 = 329.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2102.794220 meters looking forward 200.000000 meters along route # Maximum depth: 2110.745981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.794220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965477; longitude = -129.079245; captureRadius = 10; duration = 110; initialDepth = 2027.664978; finalDepth = 2022.794220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9348219999997 # Actual altitude: 83.9348219999997 # Commanded vehicle depth:2022.79422 # Seafloor depth:-2106.729042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.79; MB_Bottom_Detect_Filter_Max_Range = 335.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2107.664978 meters looking forward 200.000000 meters along route # Maximum depth: 2113.655658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.664978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964577; longitude = -129.079773; captureRadius = 10; duration = 110; initialDepth = 2032.458252; finalDepth = 2027.664978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9348219999997 # Actual altitude: 83.9348219999997 # Commanded vehicle depth:2027.664978 # Seafloor depth:-2111.254441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.79; MB_Bottom_Detect_Filter_Max_Range = 335.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2112.458252 meters looking forward 200.000000 meters along route # Maximum depth: 2113.655658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.458252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963678; longitude = -129.080302; captureRadius = 10; duration = 110; initialDepth = 2031.417121; finalDepth = 2032.458252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5894630000003 # Actual altitude: 83.5894630000003 # Commanded vehicle depth:2032.458252 # Seafloor depth:-2112.932578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.36; 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 = 334.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2111.417121 meters looking forward 200.000000 meters along route # Maximum depth: 2113.141907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.417121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.080830; captureRadius = 10; duration = 110; initialDepth = 2031.417121; finalDepth = 2031.417121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.131382 # Actual altitude: 81.131382 # Commanded vehicle depth:2031.417121 # Seafloor depth:-2112.548503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.53; 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 = 324.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2111.417121 meters looking forward 200.000000 meters along route # Maximum depth: 2113.016981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.417121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.081358; captureRadius = 10; duration = 110; initialDepth = 2029.720333; finalDepth = 2031.417121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.131382 # Actual altitude: 81.131382 # Commanded vehicle depth:2031.417121 # Seafloor depth:-2112.336061 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.53; 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 = 324.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2109.720333 meters looking forward 200.000000 meters along route # Maximum depth: 2113.016981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.720333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960980; longitude = -129.081886; captureRadius = 10; duration = 110; initialDepth = 2028.642752; finalDepth = 2029.720333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3174279999998 # Actual altitude: 82.3174279999998 # Commanded vehicle depth:2029.720333 # Seafloor depth:-2112.037761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.27; 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 = 329.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2108.642752 meters looking forward 200.000000 meters along route # Maximum depth: 2111.876797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.642752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960080; longitude = -129.082414; captureRadius = 10; duration = 110; initialDepth = 2028.642752; finalDepth = 2028.642752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3174279999998 # Actual altitude: 82.3174279999998 # Commanded vehicle depth:2028.642752 # Seafloor depth:-2109.578938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.27; 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 = 329.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2108.642752 meters looking forward 200.000000 meters along route # Maximum depth: 2110.235755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.642752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959210; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2028.767690; finalDepth = 2028.642752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.124953 # Actual altitude: 81.124953 # Commanded vehicle depth:2028.642752 # Seafloor depth:-2109.767705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.50; 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 = 324.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2108.767690 meters looking forward 200.000000 meters along route # Maximum depth: 2110.235755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.767690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958372; longitude = -129.083417; captureRadius = 10; duration = 110; initialDepth = 2020.719457; finalDepth = 2028.767690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.124953 # Actual altitude: 81.124953 # Commanded vehicle depth:2028.76769 # Seafloor depth:-2109.751277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.50; 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 = 324.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2100.719457 meters looking forward 200.000000 meters along route # Maximum depth: 2109.616871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.719457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.083946; captureRadius = 10; duration = 110; initialDepth = 2015.750508; finalDepth = 2020.719457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.511559 # Actual altitude: 87.511559 # Commanded vehicle depth:2020.719457 # Seafloor depth:-2108.231016 # 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 = 17.50; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2095.750508 meters looking forward 200.000000 meters along route # Maximum depth: 2106.808147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.750508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.084474; captureRadius = 10; duration = 110; initialDepth = 2015.750508; finalDepth = 2015.750508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.511559 # Actual altitude: 87.511559 # Commanded vehicle depth:2015.750508 # Seafloor depth:-2100.060655 # 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 = 17.50; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2095.750508 meters looking forward 200.000000 meters along route # Maximum depth: 2100.513976 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.750508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.085002; captureRadius = 10; duration = 110; initialDepth = 2016.232103; finalDepth = 2015.750508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3101470000001 # Actual altitude: 84.3101470000001 # Commanded vehicle depth:2015.750508 # Seafloor depth:-2095.781049 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 337.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2096.232103 meters looking forward 200.000000 meters along route # Maximum depth: 2105.043801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.232103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.085530; captureRadius = 10; duration = 110; initialDepth = 2022.857699; finalDepth = 2016.232103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0881360000003 # Actual altitude: 85.0881360000003 # Commanded vehicle depth:2016.232103 # Seafloor depth:-2101.320239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 340.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2102.857699 meters looking forward 200.000000 meters along route # Maximum depth: 2105.043801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.857699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953875; longitude = -129.086058; captureRadius = 10; duration = 110; initialDepth = 2023.408456; finalDepth = 2022.857699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0881360000003 # Actual altitude: 85.0881360000003 # Commanded vehicle depth:2022.857699 # Seafloor depth:-2104.699468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 340.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2103.408456 meters looking forward 200.000000 meters along route # Maximum depth: 2111.200779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.408456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952975; longitude = -129.086586; captureRadius = 10; duration = 110; initialDepth = 2025.983737; finalDepth = 2023.408456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8417689999997 # Actual altitude: 81.8417689999997 # Commanded vehicle depth:2023.408456 # Seafloor depth:-2104.801391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.37; 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 = 327.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2105.983737 meters looking forward 200.000000 meters along route # Maximum depth: 2115.820633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.983737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952076; longitude = -129.087114; captureRadius = 10; duration = 110; initialDepth = 2032.047651; finalDepth = 2025.983737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4811789999999 # Actual altitude: 85.4811789999999 # Commanded vehicle depth:2025.983737 # Seafloor depth:-2111.464916 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 341.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2112.047651 meters looking forward 200.000000 meters along route # Maximum depth: 2117.262298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.047651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951176; longitude = -129.087642; captureRadius = 10; duration = 110; initialDepth = 2032.904790; finalDepth = 2032.047651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4811789999999 # Actual altitude: 85.4811789999999 # Commanded vehicle depth:2032.047651 # Seafloor depth:-2116.030236 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 341.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2112.904790 meters looking forward 200.000000 meters along route # Maximum depth: 2117.262298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.904790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950277; longitude = -129.088171; captureRadius = 10; duration = 110; initialDepth = 2029.102383; finalDepth = 2032.904790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9825850000002 # Actual altitude: 83.9825850000002 # Commanded vehicle depth:2032.90479 # Seafloor depth:-2116.626585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.93; 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 = 335.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2109.102383 meters looking forward 200.000000 meters along route # Maximum depth: 2116.329873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.102383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949410; longitude = -129.088680; captureRadius = 10; duration = 110; initialDepth = 2029.049152; finalDepth = 2029.102383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7217949999999 # Actual altitude: 83.7217949999999 # Commanded vehicle depth:2029.102383 # Seafloor depth:-2112.576174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.74; MB_Bottom_Detect_Filter_Max_Range = 334.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2109.049152 meters looking forward 200.000000 meters along route # Maximum depth: 2112.052378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.049152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.089174; captureRadius = 10; duration = 110; initialDepth = 2029.282611; finalDepth = 2029.049152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4737909999999 # Actual altitude: 83.4737909999999 # Commanded vehicle depth:2029.049152 # Seafloor depth:-2109.083909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.90; 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 = 333.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2109.282611 meters looking forward 200.000000 meters along route # Maximum depth: 2114.588168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.282611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947669; longitude = -129.089702; captureRadius = 10; duration = 110; initialDepth = 2033.472928; finalDepth = 2029.282611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2423629999998 # Actual altitude: 83.2423629999998 # Commanded vehicle depth:2029.282611 # Seafloor depth:-2112.524974 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 332.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2113.472928 meters looking forward 200.000000 meters along route # Maximum depth: 2122.611425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.472928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946769; longitude = -129.090230; captureRadius = 10; duration = 110; initialDepth = 2035.511029; finalDepth = 2033.472928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2423629999998 # Actual altitude: 83.2423629999998 # Commanded vehicle depth:2033.472928 # Seafloor depth:-2114.870044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 332.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2115.511029 meters looking forward 200.000000 meters along route # Maximum depth: 2133.314034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.511029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945870; longitude = -129.090758; captureRadius = 10; duration = 110; initialDepth = 2045.669382; finalDepth = 2035.511029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.2133290000002 # Actual altitude: 88.2133290000002 # Commanded vehicle depth:2035.511029 # Seafloor depth:-2123.724358 # 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 = 17.64; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2125.669382 meters looking forward 200.000000 meters along route # Maximum depth: 2143.279379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.669382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944970; longitude = -129.091286; captureRadius = 10; duration = 110; initialDepth = 2055.747608; finalDepth = 2045.669382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.477809 # Actual altitude: 88.477809 # Commanded vehicle depth:2045.669382 # Seafloor depth:-2134.147191 # 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 = 17.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2135.747608 meters looking forward 200.000000 meters along route # Maximum depth: 2143.549538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.747608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944071; longitude = -129.091815; captureRadius = 10; duration = 110; initialDepth = 2062.114941; finalDepth = 2055.747608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.477809 # Actual altitude: 88.477809 # Commanded vehicle depth:2055.747608 # Seafloor depth:-2143.473253 # 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 = 17.70; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2142.114941 meters looking forward 200.000000 meters along route # Maximum depth: 2153.346670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.114941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943172; longitude = -129.092343; captureRadius = 10; duration = 110; initialDepth = 2064.275537; finalDepth = 2062.114941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.725645 # Actual altitude: 87.725645 # Commanded vehicle depth:2062.114941 # Seafloor depth:-2143.009087 # 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 12 # Segment length 110.674084 meters # Minimum depth: 2144.275537 meters looking forward 200.000000 meters along route # Maximum depth: 2155.737308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.275537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942272; longitude = -129.092871; captureRadius = 10; duration = 110; initialDepth = 2074.411496; finalDepth = 2064.275537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4937759999998 # Actual altitude: 89.4937759999998 # Commanded vehicle depth:2064.275537 # Seafloor depth:-2153.769313 # 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 = 17.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2154.411496 meters looking forward 200.000000 meters along route # Maximum depth: 2158.448309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.411496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941373; longitude = -129.093399; captureRadius = 10; duration = 110; initialDepth = 2076.425602; finalDepth = 2074.411496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4937759999998 # Actual altitude: 89.4937759999998 # Commanded vehicle depth:2074.411496 # Seafloor depth:-2155.847016 # 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 = 17.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2156.425602 meters looking forward 200.000000 meters along route # Maximum depth: 2158.941425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.425602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940473; longitude = -129.093927; captureRadius = 10; duration = 110; initialDepth = 2078.207313; finalDepth = 2076.425602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.878283 # Actual altitude: 81.878283 # Commanded vehicle depth:2076.425602 # Seafloor depth:-2158.303885 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2158.207313 meters looking forward 200.000000 meters along route # Maximum depth: 2160.645940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.207313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939609; longitude = -129.094435; captureRadius = 10; duration = 110; initialDepth = 2078.379113; finalDepth = 2078.207313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.878283 # Actual altitude: 81.878283 # Commanded vehicle depth:2078.207313 # Seafloor depth:-2158.538650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.38; MB_Bottom_Detect_Filter_Max_Range = 327.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2158.379113 meters looking forward 200.000000 meters along route # Maximum depth: 2168.790945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.379113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938765; longitude = -129.094931; captureRadius = 10; duration = 110; initialDepth = 2081.879506; finalDepth = 2078.379113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9391329999999 # Actual altitude: 82.9391329999999 # Commanded vehicle depth:2078.379113 # Seafloor depth:-2161.318246 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.76; 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 = 331.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.674084 meters # Minimum depth: 2161.879506 meters looking forward 200.000000 meters along route # Maximum depth: 2179.978327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.879506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937865; longitude = -129.095459; captureRadius = 10; duration = 110; initialDepth = 2090.574735; finalDepth = 2081.879506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8643769999999 # Actual altitude: 87.8643769999999 # Commanded vehicle depth:2081.879506 # Seafloor depth:-2169.743883 # 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 = 17.57; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 110.674084 meters # Minimum depth: 2170.574735 meters looking forward 200.000000 meters along route # Maximum depth: 2195.088193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.574735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937026; longitude = -129.095952; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2102.626790; finalDepth = 2090.574735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8920619999999 # Actual altitude: 89.8920619999999 # Commanded vehicle depth:2090.574735 # Seafloor depth:-2180.466797 # 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 = 17.98; 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 110.674084 meters # Minimum depth: 2182.626790 meters looking forward 200.000000 meters along route # Maximum depth: 2205.443885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.626790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936215; longitude = -129.096710; captureRadius = 10; duration = 110; initialDepth = 2116.697405; finalDepth = 2102.626790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.0544180000002 # Actual altitude: 93.0544180000002 # Commanded vehicle depth:2102.62679 # Seafloor depth:-2195.681208 # 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 = 18.61; 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 110.674084 meters # Minimum depth: 2196.697405 meters looking forward 200.000000 meters along route # Maximum depth: 2211.659814 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.697405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935437; longitude = -129.097438; captureRadius = 10; duration = 110; initialDepth = 2125.791911; finalDepth = 2116.697405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.0544180000002 # Actual altitude: 93.0544180000002 # Commanded vehicle depth:2116.697405 # Seafloor depth:-2205.589939 # 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 = 18.61; 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 110.674084 meters # Minimum depth: 2205.791911 meters looking forward 200.000000 meters along route # Maximum depth: 2217.087974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.791911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934641; longitude = -129.098182; captureRadius = 10; duration = 110; initialDepth = 2130.788471; finalDepth = 2125.791911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8925340000001 # Actual altitude: 88.8925340000001 # Commanded vehicle depth:2125.791911 # Seafloor depth:-2212.485152 # 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 to get to end of line 10 # Segment length 110.674084 meters # Minimum depth: 2210.788471 meters looking forward 200.000000 meters along route # Maximum depth: 2221.418044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.788471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933878; longitude = -129.098896; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2137.016420; finalDepth = 2130.788471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6932410000004 # Actual altitude: 86.6932410000004 # Commanded vehicle depth:2130.788471 # Seafloor depth:-2217.196940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.77; 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 = 346.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2217.016420 meters looking forward 200.000000 meters along route # Maximum depth: 2230.321508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.016420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933188; longitude = -129.099225; captureRadius = 10; duration = 110; initialDepth = 2143.177382; finalDepth = 2137.016420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.408469 # Actual altitude: 86.408469 # Commanded vehicle depth:2137.01642 # Seafloor depth:-2222.345374 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.63; 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 = 345.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2223.177382 meters looking forward 200.000000 meters along route # Maximum depth: 2234.496250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2143.177382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932288; longitude = -129.099654; captureRadius = 10; duration = 110; initialDepth = 2150.812425; finalDepth = 2143.177382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.1521230000003 # Actual altitude: 87.1521230000003 # Commanded vehicle depth:2143.177382 # Seafloor depth:-2230.329505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.61; 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 = 348.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2230.812425 meters looking forward 200.000000 meters along route # Maximum depth: 2236.160636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2150.812425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.100083; captureRadius = 10; duration = 110; initialDepth = 2151.683266; finalDepth = 2150.812425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.1521230000003 # Actual altitude: 87.1521230000003 # Commanded vehicle depth:2150.812425 # Seafloor depth:-2234.664884 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.61; 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 = 348.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2231.683266 meters looking forward 200.000000 meters along route # Maximum depth: 2236.160636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.683266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930490; longitude = -129.100512; captureRadius = 10; duration = 110; initialDepth = 2149.538113; finalDepth = 2151.683266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8524589999997 # Actual altitude: 83.8524589999997 # Commanded vehicle depth:2151.683266 # Seafloor depth:-2234.116184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 335.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2229.538113 meters looking forward 200.000000 meters along route # Maximum depth: 2233.784397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.538113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929591; longitude = -129.100941; captureRadius = 10; duration = 110; initialDepth = 2149.525625; finalDepth = 2149.538113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.432918 # Actual altitude: 82.432918 # Commanded vehicle depth:2149.538113 # Seafloor depth:-2231.171902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.73; 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 = 329.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2229.525625 meters looking forward 200.000000 meters along route # Maximum depth: 2230.963823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.525625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928691; longitude = -129.101370; captureRadius = 10; duration = 110; initialDepth = 2149.802815; finalDepth = 2149.525625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.633789 # Actual altitude: 81.633789 # Commanded vehicle depth:2149.525625 # Seafloor depth:-2229.534576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 326.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.674084 meters # Minimum depth: 2229.802815 meters looking forward 200.000000 meters along route # Maximum depth: 2230.963823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.802815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927792; longitude = -129.101799; captureRadius = 10; duration = 110; initialDepth = 2144.941081; finalDepth = 2149.802815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6275689999998 # Actual altitude: 80.6275689999998 # Commanded vehicle depth:2149.802815 # Seafloor depth:-2230.430384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.51; 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 = 322.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 110.674084 meters # Minimum depth: 2224.941081 meters looking forward 200.000000 meters along route # Maximum depth: 2230.836890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.941081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926862; longitude = -129.102242; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2125.180131; finalDepth = 2144.941081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.828125 # Actual altitude: 85.828125 # Commanded vehicle depth:2144.941081 # Seafloor depth:-2230.769206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 343.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.674084 meters # Minimum depth: 2205.180131 meters looking forward 200.000000 meters along route # Maximum depth: 2230.769206 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.180131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926609; longitude = -129.101394; captureRadius = 10; duration = 110; initialDepth = 2086.014648; finalDepth = 2125.180131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.4068459999999 # Actual altitude: 99.4068459999999 # Commanded vehicle depth:2125.180131 # Seafloor depth:-2224.586977 # 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 = 19.88; 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 during line 9 # Segment length 110.674084 meters # Minimum depth: 2166.014648 meters looking forward 200.000000 meters along route # Maximum depth: 2222.306071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.014648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926210; longitude = -129.100056; captureRadius = 10; duration = 110; initialDepth = 2056.458903; finalDepth = 2086.014648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.205702 # Actual altitude: 100 # Commanded vehicle depth:2086.014648 # Seafloor depth:-2202.220350 # 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 9 # Segment length 110.674084 meters # Minimum depth: 2136.458903 meters looking forward 200.000000 meters along route # Maximum depth: 2196.453848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.458903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925810; longitude = -129.098717; captureRadius = 10; duration = 110; initialDepth = 2054.261619; finalDepth = 2056.458903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.205702 # Actual altitude: 100 # Commanded vehicle depth:2056.458903 # Seafloor depth:-2165.537326 # 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 8 # Segment length 110.674084 meters # Minimum depth: 2134.261619 meters looking forward 200.000000 meters along route # Maximum depth: 2166.014648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.261619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925423; longitude = -129.097424; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2053.947365; finalDepth = 2054.261619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.078423 # Actual altitude: 100 # Commanded vehicle depth:2054.261619 # Seafloor depth:-2137.423828 # 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 8 # Segment length 110.674084 meters # Minimum depth: 2133.947365 meters looking forward 200.000000 meters along route # Maximum depth: 2137.423828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.947365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926173; longitude = -129.097043; captureRadius = 10; duration = 110; initialDepth = 2053.947365; finalDepth = 2053.947365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1622090000001 # Actual altitude: 83.1622090000001 # Commanded vehicle depth:2053.947365 # Seafloor depth:-2134.128281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.674084 meters # Minimum depth: 2133.947365 meters looking forward 200.000000 meters along route # Maximum depth: 2139.050643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.947365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927094; longitude = -129.096576; captureRadius = 10; duration = 110; initialDepth = 2053.385361; finalDepth = 2053.947365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5457000000001 # Actual altitude: 82.5457000000001 # Commanded vehicle depth:2053.947365 # Seafloor depth:-2136.493065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.18; 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 = 330.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.674084 meters # Minimum depth: 2133.385361 meters looking forward 200.000000 meters along route # Maximum depth: 2139.050643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.385361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927972; longitude = -129.096131; captureRadius = 10; duration = 110; initialDepth = 2041.150505; finalDepth = 2053.385361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7715579999999 # Actual altitude: 83.7715579999999 # Commanded vehicle depth:2053.385361 # Seafloor depth:-2137.156919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.09; 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 = 335.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.674084 meters # Minimum depth: 2121.150505 meters looking forward 200.000000 meters along route # Maximum depth: 2136.554761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.150505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928871; longitude = -129.095674; captureRadius = 10; duration = 110; initialDepth = 2040.862155; finalDepth = 2041.150505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.937606 # Actual altitude: 90.937606 # Commanded vehicle depth:2041.150505 # Seafloor depth:-2132.088111 # 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 = 18.19; 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 8 # Segment length 110.674084 meters # Minimum depth: 2120.862155 meters looking forward 200.000000 meters along route # Maximum depth: 2131.001001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.862155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929731; longitude = -129.095238; captureRadius = 10; duration = 110; initialDepth = 2040.862155; finalDepth = 2040.862155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.937606 # Actual altitude: 90.937606 # Commanded vehicle depth:2040.862155 # Seafloor depth:-2121.016122 # 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 = 18.19; 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 7 # Segment length 110.674084 meters # Minimum depth: 2120.862155 meters looking forward 200.000000 meters along route # Maximum depth: 2125.022389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.862155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930610; longitude = -129.094792; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2042.155535; finalDepth = 2040.862155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3084180000001 # Actual altitude: 81.3084180000001 # Commanded vehicle depth:2040.862155 # Seafloor depth:-2122.170573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.23; 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 = 325.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.674084 meters # Minimum depth: 2122.155535 meters looking forward 200.000000 meters along route # Maximum depth: 2125.681170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.155535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.094226; captureRadius = 10; duration = 110; initialDepth = 2036.270895; finalDepth = 2042.155535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.220656 # Actual altitude: 83.220656 # Commanded vehicle depth:2042.155535 # Seafloor depth:-2125.376191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.674084 meters # Minimum depth: 2116.270895 meters looking forward 200.000000 meters along route # Maximum depth: 2125.681170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.270895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932208; longitude = -129.093632; captureRadius = 10; duration = 110; initialDepth = 2030.922435; finalDepth = 2036.270895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2606719999999 # Actual altitude: 87.2606719999999 # Commanded vehicle depth:2036.270895 # Seafloor depth:-2123.531567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.04; 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 = 349.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 110.674084 meters # Minimum depth: 2110.922435 meters looking forward 200.000000 meters along route # Maximum depth: 2123.282971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.922435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933068; longitude = -129.093007; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2030.886629; finalDepth = 2030.922435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2606719999999 # Actual altitude: 87.2606719999999 # Commanded vehicle depth:2030.922435 # Seafloor depth:-2115.725586 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.04; 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 = 349.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.674084 meters # Minimum depth: 2110.886629 meters looking forward 200.000000 meters along route # Maximum depth: 2114.835711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.886629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933998; longitude = -129.093022; captureRadius = 10; duration = 110; initialDepth = 2030.948039; finalDepth = 2030.886629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8031510000001 # Actual altitude: 84.8031510000001 # Commanded vehicle depth:2030.886629 # Seafloor depth:-2110.942946 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.96; MB_Bottom_Detect_Filter_Max_Range = 339.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.674084 meters # Minimum depth: 2110.948039 meters looking forward 200.000000 meters along route # Maximum depth: 2127.439983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.948039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934987; longitude = -129.093037; captureRadius = 10; duration = 110; initialDepth = 2032.294971; finalDepth = 2030.948039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6794440000003 # Actual altitude: 84.6794440000003 # Commanded vehicle depth:2030.948039 # Seafloor depth:-2115.627483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.72; 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 = 338.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 110.674084 meters # Minimum depth: 2112.294971 meters looking forward 200.000000 meters along route # Maximum depth: 2130.960744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.294971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935916; longitude = -129.093052; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2040.293429; finalDepth = 2032.294971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.714144 # Actual altitude: 95.714144 # Commanded vehicle depth:2032.294971 # Seafloor depth:-2128.009115 # 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 = 19.14; 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 5 # Segment length 110.674084 meters # Minimum depth: 2120.293429 meters looking forward 200.000000 meters along route # Maximum depth: 2140.086768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.293429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936246; longitude = -129.092866; captureRadius = 10; duration = 110; initialDepth = 2053.442188; finalDepth = 2040.293429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.714144 # Actual altitude: 95.714144 # Commanded vehicle depth:2040.293429 # Seafloor depth:-2131.921551 # 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 = 19.14; 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 5 # Segment length 110.674084 meters # Minimum depth: 2133.442188 meters looking forward 200.000000 meters along route # Maximum depth: 2147.716121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.442188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937146; longitude = -129.092359; captureRadius = 10; duration = 110; initialDepth = 2062.028030; finalDepth = 2053.442188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.6281220000001 # Actual altitude: 91.6281220000001 # Commanded vehicle depth:2053.442188 # Seafloor depth:-2140.902526 # 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 5 # Segment length 110.674084 meters # Minimum depth: 2142.028030 meters looking forward 200.000000 meters along route # Maximum depth: 2147.716121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.028030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938045; longitude = -129.091852; captureRadius = 10; duration = 110; initialDepth = 2063.551657; finalDepth = 2062.028030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4603379999999 # Actual altitude: 87.4603379999999 # Commanded vehicle depth:2062.02803 # Seafloor depth:-2147.126514 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.84; 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 = 349.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2143.551657 meters looking forward 200.000000 meters along route # Maximum depth: 2155.779704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.551657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938944; longitude = -129.091345; captureRadius = 10; duration = 110; initialDepth = 2070.790383; finalDepth = 2063.551657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0984840000001 # Actual altitude: 85.0984840000001 # Commanded vehicle depth:2063.551657 # Seafloor depth:-2147.300429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 340.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2150.790383 meters looking forward 200.000000 meters along route # Maximum depth: 2158.850577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.790383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939875; longitude = -129.090821; captureRadius = 10; duration = 110; initialDepth = 2073.612293; finalDepth = 2070.790383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7487719999999 # Actual altitude: 83.7487719999999 # Commanded vehicle depth:2070.790383 # Seafloor depth:-2154.197571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.00; 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 = 335.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2153.612293 meters looking forward 200.000000 meters along route # Maximum depth: 2165.625676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.612293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940743; longitude = -129.090332; captureRadius = 10; duration = 110; initialDepth = 2080.820843; finalDepth = 2073.612293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4609849999997 # Actual altitude: 86.4609849999997 # Commanded vehicle depth:2073.612293 # Seafloor depth:-2160.073278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2160.820843 meters looking forward 200.000000 meters along route # Maximum depth: 2165.625676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.820843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941643; longitude = -129.089825; captureRadius = 10; duration = 110; initialDepth = 2080.729455; finalDepth = 2080.820843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4609849999997 # Actual altitude: 86.4609849999997 # Commanded vehicle depth:2080.820843 # Seafloor depth:-2164.711424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2160.729455 meters looking forward 200.000000 meters along route # Maximum depth: 2166.560486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.729455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942487; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2080.824776; finalDepth = 2080.729455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8905810000001 # Actual altitude: 83.8905810000001 # Commanded vehicle depth:2080.729455 # Seafloor depth:-2160.787323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.56; 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 = 335.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2160.824776 meters looking forward 200.000000 meters along route # Maximum depth: 2169.594942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.824776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943352; longitude = -129.088862; captureRadius = 10; duration = 110; initialDepth = 2074.345385; finalDepth = 2080.824776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6105470000002 # Actual altitude: 86.6105470000002 # Commanded vehicle depth:2080.824776 # Seafloor depth:-2167.435323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.44; 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 = 346.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2154.345385 meters looking forward 200.000000 meters along route # Maximum depth: 2169.594942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.345385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944251; longitude = -129.088355; captureRadius = 10; duration = 110; initialDepth = 2058.209307; finalDepth = 2074.345385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.1868759999998 # Actual altitude: 94.1868759999998 # Commanded vehicle depth:2074.345385 # Seafloor depth:-2168.532261 # 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 = 18.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2138.209307 meters looking forward 200.000000 meters along route # Maximum depth: 2167.866153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.209307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945100; longitude = -129.087877; captureRadius = 10; duration = 110; initialDepth = 2052.855831; finalDepth = 2058.209307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.384458 # Actual altitude: 95.384458 # Commanded vehicle depth:2058.209307 # Seafloor depth:-2153.593765 # 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 = 19.08; 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 110.674084 meters # Minimum depth: 2132.855831 meters looking forward 200.000000 meters along route # Maximum depth: 2150.797678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.855831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945960; longitude = -129.087392; captureRadius = 10; duration = 110; initialDepth = 2045.996683; finalDepth = 2052.855831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.384458 # Actual altitude: 95.384458 # Commanded vehicle depth:2052.855831 # Seafloor depth:-2136.783288 # 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 = 19.08; 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 110.674084 meters # Minimum depth: 2125.996683 meters looking forward 200.000000 meters along route # Maximum depth: 2135.653809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.996683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.086885; captureRadius = 10; duration = 110; initialDepth = 2038.725109; finalDepth = 2045.996683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.45406 # Actual altitude: 86.45406 # Commanded vehicle depth:2045.996683 # Seafloor depth:-2132.450743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2118.725109 meters looking forward 200.000000 meters along route # Maximum depth: 2131.904405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.725109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947712; longitude = -129.086405; captureRadius = 10; duration = 110; initialDepth = 2036.321517; finalDepth = 2038.725109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9187550000001 # Actual altitude: 86.9187550000001 # Commanded vehicle depth:2038.725109 # Seafloor depth:-2125.643864 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.68; 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 = 347.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2116.321517 meters looking forward 200.000000 meters along route # Maximum depth: 2124.414895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.321517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.085922; captureRadius = 10; duration = 110; initialDepth = 2032.510524; finalDepth = 2036.321517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9187550000001 # Actual altitude: 86.9187550000001 # Commanded vehicle depth:2036.321517 # Seafloor depth:-2118.067243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.68; 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 = 347.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2112.510524 meters looking forward 200.000000 meters along route # Maximum depth: 2117.455295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.510524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949467; longitude = -129.085415; captureRadius = 10; duration = 110; initialDepth = 2028.332563; finalDepth = 2032.510524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6083130000002 # Actual altitude: 83.6083130000002 # Commanded vehicle depth:2032.510524 # Seafloor depth:-2116.118837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.43; 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 = 334.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2108.332563 meters looking forward 200.000000 meters along route # Maximum depth: 2115.882643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.332563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950325; longitude = -129.084932; captureRadius = 10; duration = 110; initialDepth = 2019.730515; finalDepth = 2028.332563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8763979999999 # Actual altitude: 83.8763979999999 # Commanded vehicle depth:2028.332563 # Seafloor depth:-2112.208961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.51; 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 = 335.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2099.730515 meters looking forward 200.000000 meters along route # Maximum depth: 2111.563744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.730515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951176; longitude = -129.084452; captureRadius = 10; duration = 110; initialDepth = 2005.389610; finalDepth = 2019.730515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.6880189999997 # Actual altitude: 87.6880189999997 # Commanded vehicle depth:2019.730515 # Seafloor depth:-2107.418534 # 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 5 # Segment length 110.674084 meters # Minimum depth: 2085.389610 meters looking forward 200.000000 meters along route # Maximum depth: 2105.437402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.389610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952076; longitude = -129.083946; captureRadius = 10; duration = 110; initialDepth = 2005.240679; finalDepth = 2005.389610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.203876 # Actual altitude: 93.203876 # Commanded vehicle depth:2005.38961 # Seafloor depth:-2098.593486 # 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 = 18.64; 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 110.674084 meters # Minimum depth: 2085.240679 meters looking forward 200.000000 meters along route # Maximum depth: 2096.217209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.240679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952975; longitude = -129.083439; captureRadius = 10; duration = 110; initialDepth = 2005.522954; finalDepth = 2005.240679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.203876 # Actual altitude: 93.203876 # Commanded vehicle depth:2005.240679 # Seafloor depth:-2085.240679 # 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 = 18.64; 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 110.674084 meters # Minimum depth: 2085.522954 meters looking forward 200.000000 meters along route # Maximum depth: 2090.482621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.522954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953887; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2009.411910; finalDepth = 2005.522954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5310199999999 # Actual altitude: 84.5310199999999 # Commanded vehicle depth:2005.522954 # Seafloor depth:-2090.053974 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2089.411910 meters looking forward 200.000000 meters along route # Maximum depth: 2090.482621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.411910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.082425; captureRadius = 10; duration = 110; initialDepth = 2009.411910; finalDepth = 2009.411910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5310199999999 # Actual altitude: 84.5310199999999 # Commanded vehicle depth:2009.41191 # Seafloor depth:-2089.669088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2089.411910 meters looking forward 200.000000 meters along route # Maximum depth: 2098.727524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.411910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.081918; captureRadius = 10; duration = 110; initialDepth = 2011.110276; finalDepth = 2009.411910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4170920000001 # Actual altitude: 80.4170920000001 # Commanded vehicle depth:2009.41191 # Seafloor depth:-2089.829002 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.67; 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 = 321.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2091.110276 meters looking forward 200.000000 meters along route # Maximum depth: 2100.949847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.110276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.081412; captureRadius = 10; duration = 110; initialDepth = 2018.446413; finalDepth = 2011.110276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.1823360000003 # Actual altitude: 88.1823360000003 # Commanded vehicle depth:2011.110276 # Seafloor depth:-2099.292612 # 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 = 17.64; 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 110.674084 meters # Minimum depth: 2098.446413 meters looking forward 200.000000 meters along route # Maximum depth: 2100.949847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.446413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.080905; captureRadius = 10; duration = 110; initialDepth = 2015.542316; finalDepth = 2018.446413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.1823360000003 # Actual altitude: 88.1823360000003 # Commanded vehicle depth:2018.446413 # Seafloor depth:-2100.437071 # 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 = 17.64; 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 110.674084 meters # Minimum depth: 2095.542316 meters looking forward 200.000000 meters along route # Maximum depth: 2100.190516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.542316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958400; longitude = -129.080382; captureRadius = 10; duration = 110; initialDepth = 2013.529334; finalDepth = 2015.542316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7991299999999 # Actual altitude: 82.7991299999999 # Commanded vehicle depth:2015.542316 # Seafloor depth:-2098.341446 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 331.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2093.529334 meters looking forward 200.000000 meters along route # Maximum depth: 2097.739157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.529334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.079891; captureRadius = 10; duration = 110; initialDepth = 2011.634673; finalDepth = 2013.529334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7991299999999 # Actual altitude: 82.7991299999999 # Commanded vehicle depth:2013.529334 # Seafloor depth:-2095.355297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 331.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2091.634673 meters looking forward 200.000000 meters along route # Maximum depth: 2095.184357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.634673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.079384; captureRadius = 10; duration = 110; initialDepth = 2011.136719; finalDepth = 2011.634673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8259630000002 # Actual altitude: 81.8259630000002 # Commanded vehicle depth:2011.634673 # Seafloor depth:-2093.379782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.30; 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 = 327.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2091.136719 meters looking forward 200.000000 meters along route # Maximum depth: 2093.266505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.136719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961012; longitude = -129.078910; captureRadius = 10; duration = 110; initialDepth = 2010.395537; finalDepth = 2011.136719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.745109 # Actual altitude: 81.745109 # Commanded vehicle depth:2011.136719 # Seafloor depth:-2091.546127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 326.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2090.395537 meters looking forward 200.000000 meters along route # Maximum depth: 2091.564235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.395537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.078421; captureRadius = 10; duration = 110; initialDepth = 2006.849346; finalDepth = 2010.395537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.121255 # Actual altitude: 81.121255 # Commanded vehicle depth:2010.395537 # Seafloor depth:-2091.516792 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.49; 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 = 324.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2086.849346 meters looking forward 200.000000 meters along route # Maximum depth: 2091.564235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.849346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.077914; captureRadius = 10; duration = 110; initialDepth = 2005.359439; finalDepth = 2006.849346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.193867 # Actual altitude: 83.193867 # Commanded vehicle depth:2006.849346 # Seafloor depth:-2090.043213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2085.359439 meters looking forward 200.000000 meters along route # Maximum depth: 2089.699420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.359439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963625; longitude = -129.077438; captureRadius = 10; duration = 110; initialDepth = 2003.985040; finalDepth = 2005.359439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.193867 # Actual altitude: 83.193867 # Commanded vehicle depth:2005.359439 # Seafloor depth:-2086.721313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 332.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2083.985040 meters looking forward 200.000000 meters along route # Maximum depth: 2086.280328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.985040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.076951; captureRadius = 10; duration = 110; initialDepth = 2002.641068; finalDepth = 2003.985040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3618740000002 # Actual altitude: 81.3618740000002 # Commanded vehicle depth:2003.98504 # Seafloor depth:-2085.206861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.45; 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 = 325.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.674084 meters # Minimum depth: 2082.641068 meters looking forward 200.000000 meters along route # Maximum depth: 2084.986273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.641068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.076445; captureRadius = 10; duration = 110; initialDepth = 2002.641068; finalDepth = 2002.641068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2218210000001 # Actual altitude: 81.2218210000001 # Commanded vehicle depth:2002.641068 # Seafloor depth:-2083.739531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.89; 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 = 324.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 110.674084 meters # Minimum depth: 2082.641068 meters looking forward 200.000000 meters along route # Maximum depth: 2084.442330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.641068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966316; longitude = -129.075921; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2002.692490; finalDepth = 2002.641068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0984630000003 # Actual altitude: 81.0984630000003 # Commanded vehicle depth:2002.641068 # Seafloor depth:-2082.871094 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.39; 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 = 324.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.674084 meters # Minimum depth: 2082.692490 meters looking forward 200.000000 meters along route # Maximum depth: 2091.906558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.692490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966161; longitude = -129.075162; captureRadius = 10; duration = 110; initialDepth = 2003.478463; finalDepth = 2002.692490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3331020000001 # Actual altitude: 82.3331020000001 # Commanded vehicle depth:2002.69249 # Seafloor depth:-2085.025592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.33; 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 = 329.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 110.674084 meters # Minimum depth: 2083.478463 meters looking forward 200.000000 meters along route # Maximum depth: 2093.633084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.478463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965897; longitude = -129.073869; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2009.980246; finalDepth = 2003.478463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2399610000002 # Actual altitude: 89.2399610000002 # Commanded vehicle depth:2003.478463 # Seafloor depth:-2092.718424 # 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 = 17.85; 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 110.674084 meters # Minimum depth: 2089.980246 meters looking forward 200.000000 meters along route # Maximum depth: 2094.399907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.980246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.074153; captureRadius = 10; duration = 110; initialDepth = 2012.548611; finalDepth = 2009.980246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2399610000002 # Actual altitude: 89.2399610000002 # Commanded vehicle depth:2009.980246 # Seafloor depth:-2093.777869 # 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 = 17.85; 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 110.674084 meters # Minimum depth: 2092.548611 meters looking forward 200.000000 meters along route # Maximum depth: 2094.399907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.548611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.074654; captureRadius = 10; duration = 110; initialDepth = 2012.101736; finalDepth = 2012.548611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7976229999999 # Actual altitude: 83.7976229999999 # Commanded vehicle depth:2012.548611 # Seafloor depth:-2094.300243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.19; 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 = 335.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2092.101736 meters looking forward 200.000000 meters along route # Maximum depth: 2094.029079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.101736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963575; longitude = -129.075162; captureRadius = 10; duration = 110; initialDepth = 2012.101736; finalDepth = 2012.101736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.751632 # Actual altitude: 81.751632 # Commanded vehicle depth:2012.101736 # Seafloor depth:-2092.518687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 327.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2092.101736 meters looking forward 200.000000 meters along route # Maximum depth: 2095.789626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.101736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962689; longitude = -129.075656; captureRadius = 10; duration = 110; initialDepth = 2013.388240; finalDepth = 2012.101736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7506960000001 # Actual altitude: 80.7506960000001 # Commanded vehicle depth:2012.101736 # Seafloor depth:-2092.852432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.00; 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 = 323.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2093.388240 meters looking forward 200.000000 meters along route # Maximum depth: 2096.980634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.388240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961789; longitude = -129.076157; captureRadius = 10; duration = 110; initialDepth = 2016.408511; finalDepth = 2013.388240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6599449999999 # Actual altitude: 82.6599449999999 # Commanded vehicle depth:2013.38824 # Seafloor depth:-2096.048185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2096.408511 meters looking forward 200.000000 meters along route # Maximum depth: 2097.116071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.408511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960890; longitude = -129.076658; captureRadius = 10; duration = 110; initialDepth = 2016.034862; finalDepth = 2016.408511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6599449999999 # Actual altitude: 82.6599449999999 # Commanded vehicle depth:2016.408511 # Seafloor depth:-2097.002050 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 330.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2096.034862 meters looking forward 200.000000 meters along route # Maximum depth: 2097.116071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.034862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959972; longitude = -129.077170; captureRadius = 10; duration = 110; initialDepth = 2016.034862; finalDepth = 2016.034862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.792465 # Actual altitude: 80.792465 # Commanded vehicle depth:2016.034862 # Seafloor depth:-2096.827327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.17; 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 = 323.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2096.034862 meters looking forward 200.000000 meters along route # Maximum depth: 2099.472220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.034862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.077661; captureRadius = 10; duration = 110; initialDepth = 2016.500495; finalDepth = 2016.034862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.792465 # Actual altitude: 80.792465 # Commanded vehicle depth:2016.034862 # Seafloor depth:-2096.321940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.17; 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 = 323.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2096.500495 meters looking forward 200.000000 meters along route # Maximum depth: 2105.984239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.500495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.078162; captureRadius = 10; duration = 110; initialDepth = 2020.479242; finalDepth = 2016.500495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4288940000001 # Actual altitude: 83.4288940000001 # Commanded vehicle depth:2016.500495 # Seafloor depth:-2099.929389 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.72; 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 = 333.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2100.479242 meters looking forward 200.000000 meters along route # Maximum depth: 2108.856368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.479242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957330; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2027.013342; finalDepth = 2020.479242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.853548 # Actual altitude: 85.853548 # Commanded vehicle depth:2020.479242 # Seafloor depth:-2106.332790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 343.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2107.013342 meters looking forward 200.000000 meters along route # Maximum depth: 2108.856368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.013342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956483; longitude = -129.079114; captureRadius = 10; duration = 110; initialDepth = 2028.139026; finalDepth = 2027.013342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.853548 # Actual altitude: 85.853548 # Commanded vehicle depth:2027.013342 # Seafloor depth:-2108.808040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 343.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2108.139026 meters looking forward 200.000000 meters along route # Maximum depth: 2112.310942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.139026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955583; longitude = -129.079615; captureRadius = 10; duration = 110; initialDepth = 2025.852840; finalDepth = 2028.139026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7946979999997 # Actual altitude: 81.7946979999997 # Commanded vehicle depth:2028.139026 # Seafloor depth:-2108.425743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.18; 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 = 327.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2105.852840 meters looking forward 200.000000 meters along route # Maximum depth: 2112.310942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.852840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954684; longitude = -129.080116; captureRadius = 10; duration = 110; initialDepth = 2024.923443; finalDepth = 2025.852840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4515590000001 # Actual altitude: 86.4515590000001 # Commanded vehicle depth:2025.85284 # Seafloor depth:-2112.304399 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2104.923443 meters looking forward 200.000000 meters along route # Maximum depth: 2111.591054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.923443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953785; longitude = -129.080617; captureRadius = 10; duration = 110; initialDepth = 2024.923443; finalDepth = 2024.923443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4515590000001 # Actual altitude: 86.4515590000001 # Commanded vehicle depth:2024.923443 # Seafloor depth:-2105.372236 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 345.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2104.923443 meters looking forward 200.000000 meters along route # Maximum depth: 2111.522875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.923443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952885; longitude = -129.081119; captureRadius = 10; duration = 110; initialDepth = 2029.078298; finalDepth = 2024.923443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5932029999999 # Actual altitude: 83.5932029999999 # Commanded vehicle depth:2024.923443 # Seafloor depth:-2108.516646 # 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 3 # Segment length 110.674084 meters # Minimum depth: 2109.078298 meters looking forward 200.000000 meters along route # Maximum depth: 2113.887523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.078298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951986; longitude = -129.081620; captureRadius = 10; duration = 110; initialDepth = 2031.802616; finalDepth = 2029.078298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5932029999999 # Actual altitude: 83.5932029999999 # Commanded vehicle depth:2029.078298 # Seafloor depth:-2111.567630 # 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 3 # Segment length 110.674084 meters # Minimum depth: 2111.802616 meters looking forward 200.000000 meters along route # Maximum depth: 2117.691337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.802616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951085; longitude = -129.082122; captureRadius = 10; duration = 110; initialDepth = 2033.797503; finalDepth = 2031.802616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4893320000001 # Actual altitude: 82.4893320000001 # Commanded vehicle depth:2031.802616 # Seafloor depth:-2113.862027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 329.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2113.797503 meters looking forward 200.000000 meters along route # Maximum depth: 2120.365253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.797503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950187; longitude = -129.082622; captureRadius = 10; duration = 110; initialDepth = 2038.973585; finalDepth = 2033.797503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4438440000004 # Actual altitude: 84.4438440000004 # Commanded vehicle depth:2033.797503 # Seafloor depth:-2118.241347 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.78; 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 = 337.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2118.973585 meters looking forward 200.000000 meters along route # Maximum depth: 2130.282062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.973585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949288; longitude = -129.083123; captureRadius = 10; duration = 110; initialDepth = 2041.487309; finalDepth = 2038.973585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4438440000004 # Actual altitude: 84.4438440000004 # Commanded vehicle depth:2038.973585 # Seafloor depth:-2120.767169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.78; 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 = 337.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2121.487309 meters looking forward 200.000000 meters along route # Maximum depth: 2132.807490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.487309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948388; longitude = -129.083624; captureRadius = 10; duration = 110; initialDepth = 2051.816161; finalDepth = 2041.487309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.366974 # Actual altitude: 89.366974 # Commanded vehicle depth:2041.487309 # Seafloor depth:-2130.854283 # 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 = 17.87; 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 110.674084 meters # Minimum depth: 2131.816161 meters looking forward 200.000000 meters along route # Maximum depth: 2135.574935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.816161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947482; longitude = -129.084129; captureRadius = 10; duration = 110; initialDepth = 2054.060568; finalDepth = 2051.816161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.366974 # Actual altitude: 89.366974 # Commanded vehicle depth:2051.816161 # Seafloor depth:-2132.855904 # 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 = 17.87; 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 110.674084 meters # Minimum depth: 2134.060568 meters looking forward 200.000000 meters along route # Maximum depth: 2135.574935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.060568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946589; longitude = -129.084627; captureRadius = 10; duration = 110; initialDepth = 2054.109607; finalDepth = 2054.060568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.204667 # Actual altitude: 81.204667 # Commanded vehicle depth:2054.060568 # Seafloor depth:-2135.265235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.82; 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 = 324.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2134.109607 meters looking forward 200.000000 meters along route # Maximum depth: 2140.387907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.109607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945690; longitude = -129.085128; captureRadius = 10; duration = 110; initialDepth = 2055.605297; finalDepth = 2054.109607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.204667 # Actual altitude: 81.204667 # Commanded vehicle depth:2054.109607 # Seafloor depth:-2135.218781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.82; 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 = 324.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2135.605297 meters looking forward 200.000000 meters along route # Maximum depth: 2157.543750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.605297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944791; longitude = -129.085629; captureRadius = 10; duration = 110; initialDepth = 2062.620480; finalDepth = 2055.605297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2757569999999 # Actual altitude: 85.2757569999999 # Commanded vehicle depth:2055.605297 # Seafloor depth:-2140.881054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.10; 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 = 341.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2142.620480 meters looking forward 200.000000 meters along route # Maximum depth: 2166.901689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.620480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943879; longitude = -129.086137; captureRadius = 10; duration = 110; initialDepth = 2079.140259; finalDepth = 2062.620480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2089759999999 # Actual altitude: 95.2089759999999 # Commanded vehicle depth:2062.62048 # Seafloor depth:-2157.829456 # 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 = 19.04; 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; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2159.140259 meters looking forward 200.000000 meters along route # Maximum depth: 2166.901689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.140259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942992; longitude = -129.086631; captureRadius = 10; duration = 110; initialDepth = 2076.298306; finalDepth = 2079.140259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2089759999999 # Actual altitude: 95.2089759999999 # Commanded vehicle depth:2079.140259 # Seafloor depth:-2166.594707 # 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 = 19.04; 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; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2156.298306 meters looking forward 200.000000 meters along route # Maximum depth: 2165.882293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.298306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942092; longitude = -129.087132; captureRadius = 10; duration = 110; initialDepth = 2076.298306; finalDepth = 2076.298306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4544480000004 # Actual altitude: 87.4544480000004 # Commanded vehicle depth:2076.298306 # Seafloor depth:-2158.271834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.82; 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 = 349.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2156.298306 meters looking forward 200.000000 meters along route # Maximum depth: 2161.144559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.298306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941193; longitude = -129.087633; captureRadius = 10; duration = 110; initialDepth = 2072.395429; finalDepth = 2076.298306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6059019999998 # Actual altitude: 83.6059019999998 # Commanded vehicle depth:2076.298306 # Seafloor depth:-2159.904208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.42; 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 = 334.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2152.395429 meters looking forward 200.000000 meters along route # Maximum depth: 2161.144559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.395429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940276; longitude = -129.088144; captureRadius = 10; duration = 110; initialDepth = 2061.869067; finalDepth = 2072.395429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3850929999999 # Actual altitude: 87.3850929999999 # Commanded vehicle depth:2072.395429 # Seafloor depth:-2159.780522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.54; 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 = 349.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2141.869067 meters looking forward 200.000000 meters along route # Maximum depth: 2158.363803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.869067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939394; longitude = -129.088636; captureRadius = 10; duration = 110; initialDepth = 2057.907802; finalDepth = 2061.869067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.5541779999999 # Actual altitude: 89.5541779999999 # Commanded vehicle depth:2061.869067 # Seafloor depth:-2151.423245 # 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 = 17.91; 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 3 # Segment length 110.674084 meters # Minimum depth: 2137.907802 meters looking forward 200.000000 meters along route # Maximum depth: 2149.376254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.907802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938495; longitude = -129.089137; captureRadius = 10; duration = 110; initialDepth = 2057.907802; finalDepth = 2057.907802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.5541779999999 # Actual altitude: 89.5541779999999 # Commanded vehicle depth:2057.907802 # Seafloor depth:-2140.995246 # 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 = 17.91; 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 3 # Segment length 110.674084 meters # Minimum depth: 2137.907802 meters looking forward 200.000000 meters along route # Maximum depth: 2140.271614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.907802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937595; longitude = -129.089638; captureRadius = 10; duration = 110; initialDepth = 2056.179095; finalDepth = 2057.907802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0874439999998 # Actual altitude: 83.0874439999998 # Commanded vehicle depth:2057.907802 # Seafloor depth:-2138.909321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 332.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2136.179095 meters looking forward 200.000000 meters along route # Maximum depth: 2140.271614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.179095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936673; longitude = -129.090152; captureRadius = 10; duration = 110; initialDepth = 2055.912528; finalDepth = 2056.179095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1440950000001 # Actual altitude: 83.1440950000001 # Commanded vehicle depth:2056.179095 # Seafloor depth:-2139.323190 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2135.912528 meters looking forward 200.000000 meters along route # Maximum depth: 2138.541140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.912528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935797; longitude = -129.090640; captureRadius = 10; duration = 110; initialDepth = 2052.988818; finalDepth = 2055.912528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1440950000001 # Actual altitude: 83.1440950000001 # Commanded vehicle depth:2055.912528 # Seafloor depth:-2135.985641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 332.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2132.988818 meters looking forward 200.000000 meters along route # Maximum depth: 2137.116817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.988818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934897; longitude = -129.091142; captureRadius = 10; duration = 110; initialDepth = 2043.539755; finalDepth = 2052.988818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.996944 # Actual altitude: 83.996944 # Commanded vehicle depth:2052.988818 # Seafloor depth:-2136.985762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.99; 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 = 335.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2123.539755 meters looking forward 200.000000 meters along route # Maximum depth: 2137.116817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.539755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934031; longitude = -129.091624; captureRadius = 10; duration = 110; initialDepth = 2043.379548; finalDepth = 2043.539755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5481160000004 # Actual altitude: 88.5481160000004 # Commanded vehicle depth:2043.539755 # Seafloor depth:-2132.087871 # 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 = 17.71; 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 110.674084 meters # Minimum depth: 2123.379548 meters looking forward 200.000000 meters along route # Maximum depth: 2133.154142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.379548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933188; longitude = -129.092094; captureRadius = 10; duration = 110; initialDepth = 2043.541839; finalDepth = 2043.379548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5481160000004 # Actual altitude: 88.5481160000004 # Commanded vehicle depth:2043.379548 # Seafloor depth:-2123.379548 # 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 = 17.71; 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 110.674084 meters # Minimum depth: 2123.541839 meters looking forward 200.000000 meters along route # Maximum depth: 2135.872248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.541839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932289; longitude = -129.092595; captureRadius = 10; duration = 110; initialDepth = 2050.297853; finalDepth = 2043.541839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2480009999999 # Actual altitude: 90.2480009999999 # Commanded vehicle depth:2043.541839 # Seafloor depth:-2133.789840 # 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 = 18.05; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2130.297853 meters looking forward 200.000000 meters along route # Maximum depth: 2135.872248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.297853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.093096; captureRadius = 10; duration = 110; initialDepth = 2050.055437; finalDepth = 2050.297853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2480009999999 # Actual altitude: 90.2480009999999 # Commanded vehicle depth:2050.297853 # Seafloor depth:-2135.387736 # 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 = 18.05; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2130.055437 meters looking forward 200.000000 meters along route # Maximum depth: 2133.872545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.055437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930490; longitude = -129.093597; captureRadius = 10; duration = 110; initialDepth = 2050.055437; finalDepth = 2050.055437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0898830000001 # Actual altitude: 85.0898830000001 # Commanded vehicle depth:2050.055437 # Seafloor depth:-2130.924448 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 340.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2130.055437 meters looking forward 200.000000 meters along route # Maximum depth: 2139.070771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.055437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929591; longitude = -129.094098; captureRadius = 10; duration = 110; initialDepth = 2051.008808; finalDepth = 2050.055437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8690110000002 # Actual altitude: 80.8690110000002 # Commanded vehicle depth:2050.055437 # Seafloor depth:-2130.415550 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.17; MB_Bottom_Detect_Filter_Max_Range = 323.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2131.008808 meters looking forward 200.000000 meters along route # Maximum depth: 2146.087445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.008808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928691; longitude = -129.094599; captureRadius = 10; duration = 110; initialDepth = 2062.265832; finalDepth = 2051.008808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8937000000001 # Actual altitude: 88.8937000000001 # Commanded vehicle depth:2051.008808 # Seafloor depth:-2139.902508 # 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 110.674084 meters # Minimum depth: 2142.265832 meters looking forward 200.000000 meters along route # Maximum depth: 2146.203416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.265832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927786; longitude = -129.095104; captureRadius = 10; duration = 110; initialDepth = 2062.624434; finalDepth = 2062.265832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8937000000001 # Actual altitude: 88.8937000000001 # Commanded vehicle depth:2062.265832 # Seafloor depth:-2146.098128 # 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 110.674084 meters # Minimum depth: 2142.624434 meters looking forward 200.000000 meters along route # Maximum depth: 2146.159193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.624434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926892; longitude = -129.095602; captureRadius = 10; duration = 110; initialDepth = 2062.223658; finalDepth = 2062.624434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.832296 # Actual altitude: 83.832296 # Commanded vehicle depth:2062.624434 # Seafloor depth:-2143.071346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 335.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.674084 meters # Minimum depth: 2142.223658 meters looking forward 200.000000 meters along route # Maximum depth: 2143.344043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.223658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925993; longitude = -129.096103; captureRadius = 10; duration = 110; initialDepth = 2062.223658; finalDepth = 2062.223658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4469120000003 # Actual altitude: 80.4469120000003 # Commanded vehicle depth:2062.223658 # Seafloor depth:-2142.396625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.79; 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 = 321.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 110.674084 meters # Minimum depth: 2142.223658 meters looking forward 200.000000 meters along route # Maximum depth: 2144.073525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.223658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925064; longitude = -129.096621; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2058.049483; finalDepth = 2062.223658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1345780000001 # Actual altitude: 81.1345780000001 # Commanded vehicle depth:2062.223658 # Seafloor depth:-2143.358236 # 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 2 # Segment length 110.674084 meters # Minimum depth: 2138.049483 meters looking forward 200.000000 meters along route # Maximum depth: 2144.089548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.049483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924937; longitude = -129.096175; captureRadius = 10; duration = 110; initialDepth = 2057.875332; finalDepth = 2058.049483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0400650000001 # Actual altitude: 86.0400650000001 # Commanded vehicle depth:2058.049483 # Seafloor depth:-2144.089548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.16; 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 = 344.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 110.674084 meters # Minimum depth: 2137.875332 meters looking forward 200.000000 meters along route # Maximum depth: 2144.089548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.875332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924584; longitude = -129.094925; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2057.875332; finalDepth = 2057.875332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0400650000001 # Actual altitude: 86.0400650000001 # Commanded vehicle depth:2057.875332 # Seafloor depth:-2137.903646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.16; 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 = 344.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.674084 meters # Minimum depth: 2137.875332 meters looking forward 200.000000 meters along route # Maximum depth: 2142.964600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.875332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924824; longitude = -129.094788; captureRadius = 10; duration = 110; initialDepth = 2058.565367; finalDepth = 2057.875332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3727840000001 # Actual altitude: 80.3727840000001 # Commanded vehicle depth:2057.875332 # Seafloor depth:-2138.248116 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.49; 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 = 321.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.674084 meters # Minimum depth: 2138.565367 meters looking forward 200.000000 meters along route # Maximum depth: 2143.751684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.565367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925675; longitude = -129.094301; captureRadius = 10; duration = 110; initialDepth = 2062.372540; finalDepth = 2058.565367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.673354 # Actual altitude: 83.673354 # Commanded vehicle depth:2058.565367 # Seafloor depth:-2142.238721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.73; MB_Bottom_Detect_Filter_Max_Range = 334.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.674084 meters # Minimum depth: 2142.372540 meters looking forward 200.000000 meters along route # Maximum depth: 2144.152475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.372540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926533; longitude = -129.093810; captureRadius = 10; duration = 110; initialDepth = 2056.911165; finalDepth = 2062.372540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.673354 # Actual altitude: 83.673354 # Commanded vehicle depth:2062.37254 # Seafloor depth:-2143.931641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.73; MB_Bottom_Detect_Filter_Max_Range = 334.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.674084 meters # Minimum depth: 2136.911165 meters looking forward 200.000000 meters along route # Maximum depth: 2144.152475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.911165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927432; longitude = -129.093295; captureRadius = 10; duration = 110; initialDepth = 2056.839581; finalDepth = 2056.911165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8546849999998 # Actual altitude: 86.8546849999998 # Commanded vehicle depth:2056.911165 # Seafloor depth:-2143.765850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 347.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.674084 meters # Minimum depth: 2136.839581 meters looking forward 200.000000 meters along route # Maximum depth: 2142.948843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.633504 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.839581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928331; longitude = -129.092781; captureRadius = 10; duration = 110; initialDepth = 2056.795085; finalDepth = 2056.839581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8546849999998 # Actual altitude: 86.8546849999998 # Commanded vehicle depth:2056.839581 # Seafloor depth:-2136.839581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 347.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 80 # Sonar parameter altitude: 80 # Commanded vehicle depth:2056.795085 # Seafloor depth:-2136.795085 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 320.00; 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 = 320.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.00; 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 110.674084 meters # Minimum depth: 2136.795085 meters looking forward 200.000000 meters along route # Maximum depth: 2142.948843 meters looking forward 200.000000 meters along route # Vehicle depth: 2056.795085 meters behavior waypoint { latitude = 47.929261; longitude = -129.092249; captureRadius = 10; duration = 514; depth = 2056.795085; 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 = 360; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2056.795085 meters set by local depth and desired altitude behavior descend { duration = 6149; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2046.795085; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 110.674084 meters # Minimum depth: 2136.795085 meters looking forward 200.000000 meters along route # Maximum depth: 2142.948843 meters looking forward 200.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 47.929261; longitude = -129.092249; captureRadius = 10; duration = 500; depth = 30.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; 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 = 10.0; 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 = 320.00; 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 = 320.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################