# 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_4v9z.rte # Mission File: Endeavour2008_4v9z.cfg # Distance: 74565.074812 (m) # Estimated Time: 53632 (s) 14.898 (hr) # Abort Time: 57600 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2602 (s) # Way Points: 71 # Route Points: 741 # 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: 2222.642033 (m) # Abort Vehicle Depth: 2247.642033 (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 -2136.747131 0.000000 3 # 1 -129.094925 47.924584 -2137.862915 556.934033 4 # 2 -129.096621 47.925064 -2143.366760 694.405741 3 # 3 -129.073869 47.965897 -2092.630615 5540.375140 4 # 4 -129.075921 47.966316 -2082.884644 5700.468493 3 # 5 -129.093052 47.935916 -2128.100891 9313.284254 1 # 6 -129.093007 47.933068 -2115.759033 9629.842028 1 # 7 -129.094792 47.930610 -2122.231140 9933.833940 1 # 8 -129.097424 47.925423 -2137.403503 10542.943748 4 # 9 -129.102242 47.926862 -2230.915771 10936.793912 3 # 10 -129.098896 47.933878 -2217.380798 11755.658443 1 # 11 -129.095952 47.937026 -2180.987793 12168.898055 1 # 12 -129.078330 47.967036 -2099.623657 15754.490227 4 # 13 -129.081007 47.967665 -2105.476379 15966.185241 3 # 14 -129.089974 47.951836 -2137.806885 17848.554506 1 # 15 -129.091000 47.947549 -2126.040527 18331.152256 1 # 16 -129.092873 47.944041 -2151.452271 18745.375485 1 # 17 -129.094613 47.943591 -2173.735596 18884.606132 1 # 18 -129.102822 47.928361 -2237.729431 20684.954138 4 # 19 -129.104428 47.930340 -2252.885071 20935.496713 3 # 20 -129.096621 47.943681 -2185.900757 22528.800967 1 # 21 -129.096799 47.946080 -2214.105164 22795.768561 1 # 22 -129.092918 47.952645 -2207.928101 23580.873995 1 # 23 -129.090330 47.954744 -2185.095581 23883.796550 1 # 24 -129.082479 47.968295 -2137.623352 25499.939227 4 # 25 -129.084709 47.968955 -2177.234619 25681.835681 3 # 26 -129.093721 47.953365 -2207.366882 27540.608931 1 # 27 -129.094881 47.951686 -2216.088440 27746.340623 1 # 28 -129.098762 47.944940 -2209.784424 28550.179046 4 # 29 -129.101751 47.944641 -2163.593018 28775.843330 3 # 30 -129.097468 47.951836 -2185.112671 29637.109968 1 # 31 -129.098539 47.953365 -2156.874695 29824.924350 1 # 32 -129.093810 47.961400 -2171.669495 30785.229499 1 # 33 -129.090777 47.962629 -2186.070862 31049.657757 1 # 34 -129.086182 47.969314 -2177.883667 31868.010540 4 # 35 -129.087252 47.969584 -2171.839600 31953.326819 3 # 36 -129.090063 47.964907 -2177.190430 32513.901763 4 # 37 -129.091580 47.965417 -2176.132690 32640.534459 3 # 38 -129.088992 47.969764 -2166.601196 33160.869689 4 # 39 -129.090910 47.970274 -2156.816589 33314.840639 3 # 40 -129.072396 48.000164 -2189.072510 36912.763746 4 # 41 -129.070032 48.001303 -2194.043823 37129.841162 3 # 42 -129.089661 47.970034 -2162.506104 40901.268558 4 # 43 -129.088501 47.969734 -2168.045044 40994.048384 3 # 44 -129.068961 48.000943 -2197.159241 44756.756508 4 # 45 -129.067623 48.000674 -2189.512634 44860.945727 3 # 46 -129.087386 47.969494 -2172.002502 48627.169262 4 # 47 -129.086182 47.969224 -2178.225098 48721.913594 3 # 48 -129.066418 48.000314 -2181.552429 52478.967323 4 # 49 -129.065214 47.999954 -2169.345032 52577.289941 3 # 50 -129.084888 47.969015 -2179.049316 56316.274619 4 # 51 -129.083683 47.968745 -2164.238770 56411.090536 3 # 52 -129.063965 47.999624 -2176.387817 60145.238475 4 # 53 -129.062671 47.999235 -2178.513550 60251.006716 3 # 54 -129.072932 47.982985 -2134.665833 62212.673780 4 # 55 -129.073244 47.980977 -2126.716064 62437.065103 3 # 56 -129.072040 47.981786 -2128.566162 62564.176084 1 # 57 -129.061333 47.998785 -2170.858765 64615.481647 4 # 58 -129.059816 47.998275 -2159.800537 64742.049221 3 # 59 -129.068114 47.985324 -2128.888977 66308.984352 4 # 60 -129.066508 47.984874 -2123.508484 66438.837953 3 # 61 -129.058388 47.997885 -2159.515076 68006.724280 3 # 62 -129.066285 47.997346 -2161.848389 68598.870502 1 # 63 -129.073646 47.995817 -2163.589111 69173.699497 3 # 64 -129.068961 47.984754 -2131.833191 70452.022705 3 # 65 -129.076188 47.980707 -2161.873962 71154.269336 3 # 66 -129.078419 47.989191 -2160.843201 72111.810343 4 # 67 -129.079936 47.988981 -2153.960327 72227.377180 3 # 68 -129.083282 47.983855 -2150.148865 72849.411215 3 # 69 -129.081631 47.974711 -2149.944092 73873.166473 3 # 70 -129.087698 47.970004 -2169.011292 74565.074812 4 # # A total of 741 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 = 2222.642033; abortDepth = 2247.642033; 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 110.684735 meters # Minimum depth: 2169.011292 meters looking forward 200.000000 meters along route # Maximum depth: 2169.488522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.011292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970004; longitude = -129.087698; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2089.011292; finalDepth = 2089.011292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2089.011292 # Seafloor depth:-2169.011292 # 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 110.684735 meters # Minimum depth: 2169.011292 meters looking forward 200.000000 meters along route # Maximum depth: 2169.838794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.011292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970384; longitude = -129.087208; captureRadius = 10; duration = 110; initialDepth = 2089.685522; finalDepth = 2089.011292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6984379999999 # Actual altitude: 80.6984379999999 # Commanded vehicle depth:2089.011292 # Seafloor depth:-2169.709730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.79; 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 = 322.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.684735 meters # Minimum depth: 2169.685522 meters looking forward 200.000000 meters along route # Maximum depth: 2170.511919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.685522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971111; longitude = -129.086271; captureRadius = 10; duration = 110; initialDepth = 2085.475925; finalDepth = 2089.685522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6984379999999 # Actual altitude: 80.6984379999999 # Commanded vehicle depth:2089.685522 # Seafloor depth:-2169.905374 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.79; 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 = 322.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.684735 meters # Minimum depth: 2165.475925 meters looking forward 200.000000 meters along route # Maximum depth: 2170.511919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.475925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971838; longitude = -129.085334; captureRadius = 10; duration = 110; initialDepth = 2079.901472; finalDepth = 2085.475925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5220609999997 # Actual altitude: 84.5220609999997 # Commanded vehicle depth:2085.475925 # Seafloor depth:-2169.997986 # 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 110.684735 meters # Minimum depth: 2159.901472 meters looking forward 200.000000 meters along route # Maximum depth: 2169.676156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.901472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972565; longitude = -129.084397; captureRadius = 10; duration = 110; initialDepth = 2075.675681; finalDepth = 2079.901472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.883687 # Actual altitude: 84.883687 # Commanded vehicle depth:2079.901472 # Seafloor depth:-2164.785159 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.53; 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 = 339.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.684735 meters # Minimum depth: 2155.675681 meters looking forward 200.000000 meters along route # Maximum depth: 2164.172598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.675681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973292; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2070.069911; finalDepth = 2075.675681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.883687 # Actual altitude: 84.883687 # Commanded vehicle depth:2075.675681 # Seafloor depth:-2159.240368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.53; 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 = 339.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 110.684735 meters # Minimum depth: 2150.069911 meters looking forward 200.000000 meters along route # Maximum depth: 2158.703937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.069911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974019; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2069.944092; finalDepth = 2070.069911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9126419999998 # Actual altitude: 84.9126419999998 # Commanded vehicle depth:2070.069911 # Seafloor depth:-2154.982553 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.65; 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 = 339.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 110.684735 meters # Minimum depth: 2149.944092 meters looking forward 200.000000 meters along route # Maximum depth: 2156.308684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.944092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974711; longitude = -129.081631; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2064.486397; finalDepth = 2069.944092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9126419999998 # Actual altitude: 84.9126419999998 # Commanded vehicle depth:2069.944092 # Seafloor depth:-2149.944092 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.65; 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 = 339.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.684735 meters # Minimum depth: 2144.486397 meters looking forward 200.000000 meters along route # Maximum depth: 2147.078798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.486397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975206; longitude = -129.081720; captureRadius = 10; duration = 110; initialDepth = 2060.746339; finalDepth = 2064.486397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5924009999999 # Actual altitude: 82.5924009999999 # Commanded vehicle depth:2064.486397 # Seafloor depth:-2147.078798 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.37; 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 = 330.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.684735 meters # Minimum depth: 2140.746339 meters looking forward 200.000000 meters along route # Maximum depth: 2145.174802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.746339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976688; longitude = -129.081988; captureRadius = 10; duration = 110; initialDepth = 2070.532315; finalDepth = 2060.746339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5924009999999 # Actual altitude: 82.5924009999999 # Commanded vehicle depth:2060.746339 # Seafloor depth:-2140.746339 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.37; 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 = 330.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.684735 meters # Minimum depth: 2150.532315 meters looking forward 200.000000 meters along route # Maximum depth: 2151.638655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.532315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978171; longitude = -129.082256; captureRadius = 10; duration = 110; initialDepth = 2069.656724; finalDepth = 2070.532315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2070.532315 # Seafloor depth:-2150.532315 # 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 110.684735 meters # Minimum depth: 2149.656724 meters looking forward 200.000000 meters along route # Maximum depth: 2150.418943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.656724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979653; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2069.785492; finalDepth = 2069.656724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2069.656724 # Seafloor depth:-2149.656724 # 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 110.684735 meters # Minimum depth: 2149.785492 meters looking forward 200.000000 meters along route # Maximum depth: 2150.574331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.785492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981136; longitude = -129.082791; captureRadius = 10; duration = 110; initialDepth = 2070.276871; finalDepth = 2069.785492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7888389999998 # Actual altitude: 80.7888389999998 # Commanded vehicle depth:2069.785492 # Seafloor depth:-2150.574331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.16; 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 = 323.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 110.684735 meters # Minimum depth: 2150.276871 meters looking forward 200.000000 meters along route # Maximum depth: 2151.678101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.276871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982618; longitude = -129.083059; captureRadius = 10; duration = 110; initialDepth = 2070.148865; finalDepth = 2070.276871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4012299999999 # Actual altitude: 81.4012299999999 # Commanded vehicle depth:2070.276871 # Seafloor depth:-2151.678101 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.60; 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 = 325.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 110.684735 meters # Minimum depth: 2150.148865 meters looking forward 200.000000 meters along route # Maximum depth: 2151.678101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.148865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983855; longitude = -129.083282; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2070.148865; finalDepth = 2070.148865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4012299999999 # Actual altitude: 81.4012299999999 # Commanded vehicle depth:2070.148865 # Seafloor depth:-2150.148865 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.60; 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 = 325.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.684735 meters # Minimum depth: 2150.148865 meters looking forward 200.000000 meters along route # Maximum depth: 2152.349374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.148865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983992; longitude = -129.083193; captureRadius = 10; duration = 110; initialDepth = 2072.285428; finalDepth = 2070.148865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6879519999998 # Actual altitude: 80.6879519999998 # Commanded vehicle depth:2070.148865 # Seafloor depth:-2150.836817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.75; 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 = 322.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.684735 meters # Minimum depth: 2152.285428 meters looking forward 200.000000 meters along route # Maximum depth: 2153.449677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.285428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985017; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2073.070336; finalDepth = 2072.285428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6879519999998 # Actual altitude: 80.6879519999998 # Commanded vehicle depth:2072.285428 # Seafloor depth:-2152.748961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.75; 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 = 322.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.684735 meters # Minimum depth: 2153.070336 meters looking forward 200.000000 meters along route # Maximum depth: 2154.627362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.070336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986042; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2072.398030; finalDepth = 2073.070336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9457339999999 # Actual altitude: 80.9457339999999 # Commanded vehicle depth:2073.070336 # Seafloor depth:-2154.016070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 323.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.684735 meters # Minimum depth: 2152.398030 meters looking forward 200.000000 meters along route # Maximum depth: 2155.494062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.398030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987068; longitude = -129.081185; captureRadius = 10; duration = 110; initialDepth = 2073.906484; finalDepth = 2072.398030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9457339999999 # Actual altitude: 80.9457339999999 # Commanded vehicle depth:2072.39803 # Seafloor depth:-2152.398030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.19; MB_Bottom_Detect_Filter_Max_Range = 323.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 110.684735 meters # Minimum depth: 2153.906484 meters looking forward 200.000000 meters along route # Maximum depth: 2155.494062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.906484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988093; longitude = -129.080516; captureRadius = 10; duration = 110; initialDepth = 2073.906484; finalDepth = 2073.906484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.205935 # Actual altitude: 81.205935 # Commanded vehicle depth:2073.906484 # Seafloor depth:-2155.112419 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 110.684735 meters # Minimum depth: 2153.906484 meters looking forward 200.000000 meters along route # Maximum depth: 2155.494062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.906484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988981; longitude = -129.079936; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2073.960327; finalDepth = 2073.906484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.205935 # Actual altitude: 81.205935 # Commanded vehicle depth:2073.906484 # Seafloor depth:-2153.960327 # 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 67 # Segment length 110.684735 meters # Minimum depth: 2153.960327 meters looking forward 200.000000 meters along route # Maximum depth: 2161.053964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.960327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988993; longitude = -129.079847; captureRadius = 10; duration = 110; initialDepth = 2073.960327; finalDepth = 2073.960327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 80.5648530000003 # Actual altitude: 80.5648530000003 # Commanded vehicle depth:2073.960327 # Seafloor depth:-2154.525180 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.26; 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 = 322.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 110.684735 meters # Minimum depth: 2153.960327 meters looking forward 200.000000 meters along route # Maximum depth: 2161.053964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.960327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989191; longitude = -129.078419; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2076.005183; finalDepth = 2073.960327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8828740000004 # Actual altitude: 86.8828740000004 # Commanded vehicle depth:2073.960327 # Seafloor depth:-2160.843201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.53; 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 = 347.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2156.005183 meters looking forward 200.000000 meters along route # Maximum depth: 2161.053964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.005183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989022; longitude = -129.078374; captureRadius = 10; duration = 110; initialDepth = 2072.984714; finalDepth = 2076.005183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8828740000004 # Actual altitude: 86.8828740000004 # Commanded vehicle depth:2076.005183 # Seafloor depth:-2159.735489 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.53; 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 = 347.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2152.984714 meters looking forward 200.000000 meters along route # Maximum depth: 2156.005183 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.984714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988004; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2073.244802; finalDepth = 2072.984714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7303059999999 # Actual altitude: 83.7303059999999 # Commanded vehicle depth:2072.984714 # Seafloor depth:-2152.984714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.92; 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 = 334.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2153.244802 meters looking forward 200.000000 meters along route # Maximum depth: 2155.595203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.244802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986986; longitude = -129.077839; captureRadius = 10; duration = 110; initialDepth = 2070.334189; finalDepth = 2073.244802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3504009999997 # Actual altitude: 82.3504009999997 # Commanded vehicle depth:2073.244802 # Seafloor depth:-2155.595203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.40; 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 = 329.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2150.334189 meters looking forward 200.000000 meters along route # Maximum depth: 2153.244802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.334189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985968; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2070.334189; finalDepth = 2070.334189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3504009999997 # Actual altitude: 82.3504009999997 # Commanded vehicle depth:2070.334189 # Seafloor depth:-2150.959143 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.40; 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 = 329.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2150.334189 meters looking forward 200.000000 meters along route # Maximum depth: 2152.609610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.334189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984950; longitude = -129.077304; captureRadius = 10; duration = 110; initialDepth = 2072.609610; finalDepth = 2070.334189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.118669 # Actual altitude: 81.118669 # Commanded vehicle depth:2070.334189 # Seafloor depth:-2151.452858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.47; 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 = 324.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2152.609610 meters looking forward 200.000000 meters along route # Maximum depth: 2154.246538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.609610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983932; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2074.246538; finalDepth = 2072.609610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3042970000001 # Actual altitude: 81.3042970000001 # Commanded vehicle depth:2072.60961 # Seafloor depth:-2153.913907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.22; 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 = 325.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2154.246538 meters looking forward 200.000000 meters along route # Maximum depth: 2154.378128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.246538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982914; longitude = -129.076768; captureRadius = 10; duration = 110; initialDepth = 2074.378128; finalDepth = 2074.246538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3042970000001 # Actual altitude: 81.3042970000001 # Commanded vehicle depth:2074.246538 # Seafloor depth:-2154.363558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.22; 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 = 325.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 110.684735 meters # Minimum depth: 2154.378128 meters looking forward 200.000000 meters along route # Maximum depth: 2162.422151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.378128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981896; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2080.206338; finalDepth = 2074.378128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0196030000002 # Actual altitude: 83.0196030000002 # Commanded vehicle depth:2074.378128 # Seafloor depth:-2157.397731 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.08; 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 = 332.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 110.684735 meters # Minimum depth: 2160.206338 meters looking forward 200.000000 meters along route # Maximum depth: 2162.422151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.206338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980707; longitude = -129.076188; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2070.605349; finalDepth = 2080.206338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0196030000002 # Actual altitude: 83.0196030000002 # Commanded vehicle depth:2080.206338 # Seafloor depth:-2161.873962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.08; 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 = 332.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 110.684735 meters # Minimum depth: 2150.605349 meters looking forward 200.000000 meters along route # Maximum depth: 2162.422151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.605349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981131; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2059.094857; finalDepth = 2070.605349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.7164550000002 # Actual altitude: 88.7164550000002 # Commanded vehicle depth:2070.605349 # Seafloor depth:-2159.321804 # 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 110.684735 meters # Minimum depth: 2139.094857 meters looking forward 200.000000 meters along route # Maximum depth: 2158.046797 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.094857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981731; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2047.988439; finalDepth = 2059.094857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.5589409999998 # Actual altitude: 90.5589409999998 # Commanded vehicle depth:2059.094857 # Seafloor depth:-2149.653798 # 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 110.684735 meters # Minimum depth: 2127.988439 meters looking forward 200.000000 meters along route # Maximum depth: 2148.451349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.988439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982331; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2047.988439; finalDepth = 2047.988439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.5589409999998 # Actual altitude: 90.5589409999998 # Commanded vehicle depth:2047.988439 # Seafloor depth:-2137.097317 # 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 110.684735 meters # Minimum depth: 2127.988439 meters looking forward 200.000000 meters along route # Maximum depth: 2134.759903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.988439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982930; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2048.414857; finalDepth = 2047.988439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.108878 # Actual altitude: 89.108878 # Commanded vehicle depth:2047.988439 # Seafloor depth:-2128.158383 # 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 110.684735 meters # Minimum depth: 2128.414857 meters looking forward 200.000000 meters along route # Maximum depth: 2132.665551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.414857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983530; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2051.009727; finalDepth = 2048.414857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.076024 # Actual altitude: 82.076024 # Commanded vehicle depth:2048.414857 # Seafloor depth:-2130.490881 # 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 = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 110.684735 meters # Minimum depth: 2131.009727 meters looking forward 200.000000 meters along route # Maximum depth: 2132.914106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.009727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984129; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2051.645271; finalDepth = 2051.009727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.076024 # Actual altitude: 82.076024 # Commanded vehicle depth:2051.009727 # Seafloor depth:-2132.807812 # 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 = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 110.684735 meters # Minimum depth: 2131.645271 meters looking forward 200.000000 meters along route # Maximum depth: 2132.914106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.645271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984754; longitude = -129.068961; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2049.747826; finalDepth = 2051.645271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7980849999999 # Actual altitude: 81.7980849999999 # Commanded vehicle depth:2051.645271 # Seafloor depth:-2131.833191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.19; 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 = 327.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2129.747826 meters looking forward 200.000000 meters along route # Maximum depth: 2132.765184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.747826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985176; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2049.747826; finalDepth = 2049.747826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5193760000002 # Actual altitude: 80.5193760000002 # Commanded vehicle depth:2049.747826 # Seafloor depth:-2130.267202 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.08; 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 = 322.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2129.747826 meters looking forward 200.000000 meters along route # Maximum depth: 2134.048007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.747826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986124; longitude = -129.069541; captureRadius = 10; duration = 110; initialDepth = 2052.100950; finalDepth = 2049.747826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2465260000004 # Actual altitude: 81.2465260000004 # Commanded vehicle depth:2049.747826 # Seafloor depth:-2130.994352 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.99; 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 = 324.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2132.100950 meters looking forward 200.000000 meters along route # Maximum depth: 2141.685605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.100950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987072; longitude = -129.069943; captureRadius = 10; duration = 110; initialDepth = 2060.429523; finalDepth = 2052.100950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.394002 # Actual altitude: 85.394002 # Commanded vehicle depth:2052.10095 # Seafloor depth:-2137.494952 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.58; 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 = 341.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2140.429523 meters looking forward 200.000000 meters along route # Maximum depth: 2145.395270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.429523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988021; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2063.946209; finalDepth = 2060.429523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.394002 # Actual altitude: 85.394002 # Commanded vehicle depth:2060.429523 # Seafloor depth:-2142.665826 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.58; 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 = 341.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2143.946209 meters looking forward 200.000000 meters along route # Maximum depth: 2146.964056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.946209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988969; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2065.645365; finalDepth = 2063.946209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.849913 # Actual altitude: 82.849913 # Commanded vehicle depth:2063.946209 # Seafloor depth:-2146.796122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.40; 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 = 331.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2145.645365 meters looking forward 200.000000 meters along route # Maximum depth: 2146.964056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.645365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989917; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2057.433717; finalDepth = 2065.645365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.849913 # Actual altitude: 82.849913 # Commanded vehicle depth:2065.645365 # Seafloor depth:-2145.645365 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.40; 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 = 331.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2137.433717 meters looking forward 200.000000 meters along route # Maximum depth: 2146.007324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.433717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990865; longitude = -129.071549; captureRadius = 10; duration = 110; initialDepth = 2053.781924; finalDepth = 2057.433717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.10392 # Actual altitude: 87.10392 # Commanded vehicle depth:2057.433717 # Seafloor depth:-2144.537637 # 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 110.684735 meters # Minimum depth: 2133.781924 meters looking forward 200.000000 meters along route # Maximum depth: 2141.038182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.781924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991813; longitude = -129.071950; captureRadius = 10; duration = 110; initialDepth = 2053.007556; finalDepth = 2053.781924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.10392 # Actual altitude: 87.10392 # Commanded vehicle depth:2053.781924 # Seafloor depth:-2136.194987 # 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 110.684735 meters # Minimum depth: 2133.007556 meters looking forward 200.000000 meters along route # Maximum depth: 2135.049284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.007556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992761; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2053.007556; finalDepth = 2053.007556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.413063 # Actual altitude: 82.413063 # Commanded vehicle depth:2053.007556 # Seafloor depth:-2134.007093 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.65; 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 = 329.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 110.684735 meters # Minimum depth: 2133.007556 meters looking forward 200.000000 meters along route # Maximum depth: 2140.878559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.007556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993709; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2060.878559; finalDepth = 2053.007556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.287002 # Actual altitude: 81.287002 # Commanded vehicle depth:2053.007556 # Seafloor depth:-2134.294558 # 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 110.684735 meters # Minimum depth: 2140.878559 meters looking forward 200.000000 meters along route # Maximum depth: 2159.322499 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.878559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994657; longitude = -129.073155; captureRadius = 10; duration = 110; initialDepth = 2065.035997; finalDepth = 2060.878559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.1574379999997 # Actual altitude: 84.1574379999997 # Commanded vehicle depth:2060.878559 # Seafloor depth:-2145.035997 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 110.684735 meters # Minimum depth: 2145.035997 meters looking forward 200.000000 meters along route # Maximum depth: 2163.589111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.035997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995817; longitude = -129.073646; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2079.322499; finalDepth = 2065.035997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.5531139999998 # Actual altitude: 98.5531139999998 # Commanded vehicle depth:2065.035997 # Seafloor depth:-2163.589111 # 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 = 19.71; 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 63 # Segment length 110.684735 meters # Minimum depth: 2159.322499 meters looking forward 200.000000 meters along route # Maximum depth: 2166.255065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.322499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995947; longitude = -129.073021; captureRadius = 10; duration = 110; initialDepth = 2083.278554; finalDepth = 2079.322499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.5531139999998 # Actual altitude: 98.5531139999998 # Commanded vehicle depth:2079.322499 # Seafloor depth:-2162.958613 # 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 = 19.71; 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 63 # Segment length 110.684735 meters # Minimum depth: 2163.278554 meters looking forward 200.000000 meters along route # Maximum depth: 2170.863876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.278554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996225; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2086.768456; finalDepth = 2083.278554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6361139999999 # Actual altitude: 83.6361139999999 # Commanded vehicle depth:2083.278554 # Seafloor depth:-2166.470007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.54; 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 = 334.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 110.684735 meters # Minimum depth: 2166.768456 meters looking forward 200.000000 meters along route # Maximum depth: 2173.612945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.768456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996503; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2089.939639; finalDepth = 2086.768456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6594600000003 # Actual altitude: 84.6594600000003 # Commanded vehicle depth:2086.768456 # Seafloor depth:-2171.427916 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.64; 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 = 338.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 110.684735 meters # Minimum depth: 2169.939639 meters looking forward 200.000000 meters along route # Maximum depth: 2173.612945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.939639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996781; longitude = -129.069006; captureRadius = 10; duration = 110; initialDepth = 2081.896803; finalDepth = 2089.939639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6594600000003 # Actual altitude: 84.6594600000003 # Commanded vehicle depth:2089.939639 # Seafloor depth:-2172.438736 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.64; 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 = 338.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 110.684735 meters # Minimum depth: 2161.896803 meters looking forward 200.000000 meters along route # Maximum depth: 2171.811431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.896803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997059; longitude = -129.067668; captureRadius = 10; duration = 110; initialDepth = 2081.847028; finalDepth = 2081.896803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3276539999997 # Actual altitude: 87.3276539999997 # Commanded vehicle depth:2081.896803 # Seafloor depth:-2169.224457 # 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 110.684735 meters # Minimum depth: 2161.847028 meters looking forward 200.000000 meters along route # Maximum depth: 2169.926253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.847028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997346; longitude = -129.066285; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.847028; finalDepth = 2081.847028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3276539999997 # Actual altitude: 87.3276539999997 # Commanded vehicle depth:2081.847028 # Seafloor depth:-2161.848389 # 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 110.684735 meters # Minimum depth: 2161.847028 meters looking forward 200.000000 meters along route # Maximum depth: 2172.858723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.847028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997425; longitude = -129.065125; captureRadius = 10; duration = 110; initialDepth = 2085.445563; finalDepth = 2081.847028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2153629999998 # Actual altitude: 89.2153629999998 # Commanded vehicle depth:2081.847028 # Seafloor depth:-2171.062391 # 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 110.684735 meters # Minimum depth: 2165.445563 meters looking forward 200.000000 meters along route # Maximum depth: 2172.858723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.445563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997517; longitude = -129.063786; captureRadius = 10; duration = 110; initialDepth = 2080.953511; finalDepth = 2085.445563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2153629999998 # Actual altitude: 89.2153629999998 # Commanded vehicle depth:2085.445563 # Seafloor depth:-2171.559341 # 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 110.684735 meters # Minimum depth: 2160.953511 meters looking forward 200.000000 meters along route # Maximum depth: 2171.218393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.953511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997608; longitude = -129.062448; captureRadius = 10; duration = 110; initialDepth = 2077.188300; finalDepth = 2080.953511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1137779999999 # Actual altitude: 86.1137779999999 # Commanded vehicle depth:2080.953511 # Seafloor depth:-2164.344323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.46; 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 = 344.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 110.684735 meters # Minimum depth: 2157.188300 meters looking forward 200.000000 meters along route # Maximum depth: 2163.443952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.188300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997699; longitude = -129.061110; captureRadius = 10; duration = 110; initialDepth = 2076.561229; finalDepth = 2077.188300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5489460000003 # Actual altitude: 83.5489460000003 # Commanded vehicle depth:2077.1883 # Seafloor depth:-2160.737246 # 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 110.684735 meters # Minimum depth: 2156.561229 meters looking forward 200.000000 meters along route # Maximum depth: 2160.447492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.561229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997791; longitude = -129.059771; captureRadius = 10; duration = 110; initialDepth = 2076.561229; finalDepth = 2076.561229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5489460000003 # Actual altitude: 83.5489460000003 # Commanded vehicle depth:2076.561229 # Seafloor depth:-2156.992127 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 110.684735 meters # Minimum depth: 2156.561229 meters looking forward 200.000000 meters along route # Maximum depth: 2159.896818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.561229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997885; longitude = -129.058388; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2073.423062; finalDepth = 2076.561229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9538470000002 # Actual altitude: 82.9538470000002 # Commanded vehicle depth:2076.561229 # Seafloor depth:-2159.515076 # 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 61 # Segment length 110.684735 meters # Minimum depth: 2153.423062 meters looking forward 200.000000 meters along route # Maximum depth: 2159.515076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.423062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997813; longitude = -129.058433; captureRadius = 10; duration = 110; initialDepth = 2067.213254; finalDepth = 2073.423062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7476650000003 # Actual altitude: 84.7476650000003 # Commanded vehicle depth:2073.423062 # Seafloor depth:-2158.170727 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.95; MB_Bottom_Detect_Filter_Max_Range = 338.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2147.213254 meters looking forward 200.000000 meters along route # Maximum depth: 2156.111649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.213254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996955; longitude = -129.058968; captureRadius = 10; duration = 110; initialDepth = 2063.765708; finalDepth = 2067.213254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7476650000003 # Actual altitude: 84.7476650000003 # Commanded vehicle depth:2067.213254 # Seafloor depth:-2151.800034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.95; MB_Bottom_Detect_Filter_Max_Range = 338.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2143.765708 meters looking forward 200.000000 meters along route # Maximum depth: 2150.386125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.765708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996097; longitude = -129.059504; captureRadius = 10; duration = 110; initialDepth = 2061.350782; finalDepth = 2063.765708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5867800000001 # Actual altitude: 84.5867800000001 # Commanded vehicle depth:2063.765708 # Seafloor depth:-2146.195249 # 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 61 # Segment length 110.684735 meters # Minimum depth: 2141.350782 meters looking forward 200.000000 meters along route # Maximum depth: 2145.138035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.350782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995240; longitude = -129.060039; captureRadius = 10; duration = 110; initialDepth = 2056.660448; finalDepth = 2061.350782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0814780000001 # Actual altitude: 83.0814780000001 # Commanded vehicle depth:2061.350782 # Seafloor depth:-2144.432260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.33; 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 = 332.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2136.660448 meters looking forward 200.000000 meters along route # Maximum depth: 2143.992138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.660448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994382; longitude = -129.060574; captureRadius = 10; duration = 110; initialDepth = 2055.386826; finalDepth = 2056.660448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7446299999997 # Actual altitude: 83.7446299999997 # Commanded vehicle depth:2056.660448 # Seafloor depth:-2140.405078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.98; 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 = 334.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2135.386826 meters looking forward 200.000000 meters along route # Maximum depth: 2139.644369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.386826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993524; longitude = -129.061110; captureRadius = 10; duration = 110; initialDepth = 2055.386826; finalDepth = 2055.386826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7446299999997 # Actual altitude: 83.7446299999997 # Commanded vehicle depth:2055.386826 # Seafloor depth:-2135.668922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.98; 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 = 334.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2135.386826 meters looking forward 200.000000 meters along route # Maximum depth: 2137.026336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.386826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992666; longitude = -129.061645; captureRadius = 10; duration = 110; initialDepth = 2056.556104; finalDepth = 2055.386826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4480760000001 # Actual altitude: 81.4480760000001 # Commanded vehicle depth:2055.386826 # Seafloor depth:-2136.834902 # 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 110.684735 meters # Minimum depth: 2136.556104 meters looking forward 200.000000 meters along route # Maximum depth: 2139.585862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.556104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991808; longitude = -129.062180; captureRadius = 10; duration = 110; initialDepth = 2057.579252; finalDepth = 2056.556104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4480760000001 # Actual altitude: 81.4480760000001 # Commanded vehicle depth:2056.556104 # Seafloor depth:-2136.873164 # 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 110.684735 meters # Minimum depth: 2137.579252 meters looking forward 200.000000 meters along route # Maximum depth: 2139.585862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.579252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990951; longitude = -129.062716; captureRadius = 10; duration = 110; initialDepth = 2055.425297; finalDepth = 2057.579252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.431286 # Actual altitude: 81.431286 # Commanded vehicle depth:2057.579252 # Seafloor depth:-2139.010538 # 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 110.684735 meters # Minimum depth: 2135.425297 meters looking forward 200.000000 meters along route # Maximum depth: 2138.708887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.425297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990093; longitude = -129.063251; captureRadius = 10; duration = 110; initialDepth = 2054.210041; finalDepth = 2055.425297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1716530000003 # Actual altitude: 83.1716530000003 # Commanded vehicle depth:2055.425297 # Seafloor depth:-2138.596950 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.69; 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 = 332.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2134.210041 meters looking forward 200.000000 meters along route # Maximum depth: 2137.562042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.210041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989235; longitude = -129.063786; captureRadius = 10; duration = 110; initialDepth = 2050.049664; finalDepth = 2054.210041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1716530000003 # Actual altitude: 83.1716530000003 # Commanded vehicle depth:2054.210041 # Seafloor depth:-2134.928589 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.69; 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 = 332.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2130.049664 meters looking forward 200.000000 meters along route # Maximum depth: 2134.631199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.049664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988377; longitude = -129.064322; captureRadius = 10; duration = 110; initialDepth = 2048.835070; finalDepth = 2050.049664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0451589999998 # Actual altitude: 83.0451589999998 # Commanded vehicle depth:2050.049664 # Seafloor depth:-2133.094823 # 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 61 # Segment length 110.684735 meters # Minimum depth: 2128.835070 meters looking forward 200.000000 meters along route # Maximum depth: 2131.921344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.835070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987519; longitude = -129.064857; captureRadius = 10; duration = 110; initialDepth = 2045.748173; finalDepth = 2048.835070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0451589999998 # Actual altitude: 83.0451589999998 # Commanded vehicle depth:2048.83507 # Seafloor depth:-2129.166989 # 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 61 # Segment length 110.684735 meters # Minimum depth: 2125.748173 meters looking forward 200.000000 meters along route # Maximum depth: 2128.909622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.748173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986662; longitude = -129.065392; captureRadius = 10; duration = 110; initialDepth = 2043.599451; finalDepth = 2045.748173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7893610000001 # Actual altitude: 82.7893610000001 # Commanded vehicle depth:2045.748173 # Seafloor depth:-2128.537534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.16; 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 = 331.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 110.684735 meters # Minimum depth: 2123.599451 meters looking forward 200.000000 meters along route # Maximum depth: 2127.722004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.599451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985804; longitude = -129.065928; captureRadius = 10; duration = 110; initialDepth = 2043.508484; finalDepth = 2043.599451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7893610000001 # Actual altitude: 82.7893610000001 # Commanded vehicle depth:2043.599451 # Seafloor depth:-2124.762260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.16; 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 = 331.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 110.684735 meters # Minimum depth: 2123.508484 meters looking forward 200.000000 meters along route # Maximum depth: 2126.630104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.508484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984874; longitude = -129.066508; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2043.508484; finalDepth = 2043.508484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1628089999999 # Actual altitude: 81.1628089999999 # Commanded vehicle depth:2043.508484 # Seafloor depth:-2123.508484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.65; 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 = 324.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 110.684735 meters # Minimum depth: 2123.508484 meters looking forward 200.000000 meters along route # Maximum depth: 2129.193423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.508484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984974; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2043.508484; finalDepth = 2043.508484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 82.258339 # Actual altitude: 82.258339 # Commanded vehicle depth:2043.508484 # Seafloor depth:-2125.766823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.03; 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 = 329.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 110.684735 meters # Minimum depth: 2123.508484 meters looking forward 200.000000 meters along route # Maximum depth: 2129.193423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.508484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985324; longitude = -129.068114; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2047.545853; finalDepth = 2043.508484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3804930000001 # Actual altitude: 85.3804930000001 # Commanded vehicle depth:2043.508484 # Seafloor depth:-2128.888977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.52; 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 = 341.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2127.545853 meters looking forward 200.000000 meters along route # Maximum depth: 2129.193423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.545853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985603; longitude = -129.067935; captureRadius = 10; duration = 110; initialDepth = 2047.545853; finalDepth = 2047.545853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3804930000001 # Actual altitude: 85.3804930000001 # Commanded vehicle depth:2047.545853 # Seafloor depth:-2128.352014 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.52; 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 = 341.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2127.545853 meters looking forward 200.000000 meters along route # Maximum depth: 2129.955545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.545853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986438; longitude = -129.067400; captureRadius = 10; duration = 110; initialDepth = 2048.277569; finalDepth = 2047.545853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.806161 # Actual altitude: 80.806161 # Commanded vehicle depth:2047.545853 # Seafloor depth:-2127.961479 # 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 59 # Segment length 110.684735 meters # Minimum depth: 2128.277569 meters looking forward 200.000000 meters along route # Maximum depth: 2131.865035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.277569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987274; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2051.278802; finalDepth = 2048.277569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8861260000003 # Actual altitude: 82.8861260000003 # Commanded vehicle depth:2048.277569 # Seafloor depth:-2131.163695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.54; 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 = 331.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2131.278802 meters looking forward 200.000000 meters along route # Maximum depth: 2132.774877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.278802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988110; longitude = -129.066329; captureRadius = 10; duration = 110; initialDepth = 2051.561708; finalDepth = 2051.278802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8861260000003 # Actual altitude: 82.8861260000003 # Commanded vehicle depth:2051.278802 # Seafloor depth:-2131.278802 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.54; 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 = 331.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2131.561708 meters looking forward 200.000000 meters along route # Maximum depth: 2133.974157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.561708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988945; longitude = -129.065794; captureRadius = 10; duration = 110; initialDepth = 2053.756486; finalDepth = 2051.561708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7123759999999 # Actual altitude: 81.7123759999999 # Commanded vehicle depth:2051.561708 # Seafloor depth:-2133.274084 # 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 59 # Segment length 110.684735 meters # Minimum depth: 2133.756486 meters looking forward 200.000000 meters along route # Maximum depth: 2137.519618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.756486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989781; longitude = -129.065259; captureRadius = 10; duration = 110; initialDepth = 2054.741698; finalDepth = 2053.756486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7123759999999 # Actual altitude: 81.7123759999999 # Commanded vehicle depth:2053.756486 # Seafloor depth:-2133.967353 # 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 59 # Segment length 110.684735 meters # Minimum depth: 2134.741698 meters looking forward 200.000000 meters along route # Maximum depth: 2138.428553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.741698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990616; longitude = -129.064723; captureRadius = 10; duration = 110; initialDepth = 2057.676855; finalDepth = 2054.741698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6868550000004 # Actual altitude: 83.6868550000004 # Commanded vehicle depth:2054.741698 # Seafloor depth:-2138.428553 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.75; 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 = 334.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2137.676855 meters looking forward 200.000000 meters along route # Maximum depth: 2140.070665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.676855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991452; longitude = -129.064188; captureRadius = 10; duration = 110; initialDepth = 2058.813132; finalDepth = 2057.676855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6868550000004 # Actual altitude: 83.6868550000004 # Commanded vehicle depth:2057.676855 # Seafloor depth:-2138.341428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.75; 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 = 334.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2138.813132 meters looking forward 200.000000 meters along route # Maximum depth: 2140.385826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.813132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992287; longitude = -129.063653; captureRadius = 10; duration = 110; initialDepth = 2059.600368; finalDepth = 2058.813132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0662149999998 # Actual altitude: 81.0662149999998 # Commanded vehicle depth:2058.813132 # Seafloor depth:-2139.879347 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.26; 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 = 324.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2139.600368 meters looking forward 200.000000 meters along route # Maximum depth: 2141.857188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.600368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993123; longitude = -129.063117; captureRadius = 10; duration = 110; initialDepth = 2061.501319; finalDepth = 2059.600368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8479480000001 # Actual altitude: 81.8479480000001 # Commanded vehicle depth:2059.600368 # Seafloor depth:-2141.448316 # 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 110.684735 meters # Minimum depth: 2141.501319 meters looking forward 200.000000 meters along route # Maximum depth: 2144.377464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.501319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993958; longitude = -129.062582; captureRadius = 10; duration = 110; initialDepth = 2062.520051; finalDepth = 2061.501319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8479480000001 # Actual altitude: 81.8479480000001 # Commanded vehicle depth:2061.501319 # Seafloor depth:-2142.213793 # 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 110.684735 meters # Minimum depth: 2142.520051 meters looking forward 200.000000 meters along route # Maximum depth: 2147.582519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.520051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994794; longitude = -129.062047; captureRadius = 10; duration = 110; initialDepth = 2066.096082; finalDepth = 2062.520051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8712850000002 # Actual altitude: 82.8712850000002 # Commanded vehicle depth:2062.520051 # Seafloor depth:-2145.391336 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.49; 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 = 331.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 110.684735 meters # Minimum depth: 2146.096082 meters looking forward 200.000000 meters along route # Maximum depth: 2150.518973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.096082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995629; longitude = -129.061511; captureRadius = 10; duration = 110; initialDepth = 2069.982571; finalDepth = 2066.096082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9541290000002 # Actual altitude: 82.9541290000002 # Commanded vehicle depth:2066.096082 # Seafloor depth:-2149.050211 # 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 110.684735 meters # Minimum depth: 2149.982571 meters looking forward 200.000000 meters along route # Maximum depth: 2153.515375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.982571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996465; longitude = -129.060976; captureRadius = 10; duration = 110; initialDepth = 2071.455244; finalDepth = 2069.982571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9541290000002 # Actual altitude: 82.9541290000002 # Commanded vehicle depth:2069.982571 # Seafloor depth:-2151.008501 # 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 110.684735 meters # Minimum depth: 2151.455244 meters looking forward 200.000000 meters along route # Maximum depth: 2159.208055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.455244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997300; longitude = -129.060440; captureRadius = 10; duration = 110; initialDepth = 2072.134014; finalDepth = 2071.455244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8719409999999 # Actual altitude: 83.8719409999999 # Commanded vehicle depth:2071.455244 # Seafloor depth:-2155.327185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.49; 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 = 335.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 110.684735 meters # Minimum depth: 2152.134014 meters looking forward 200.000000 meters along route # Maximum depth: 2160.106736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.134014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998275; longitude = -129.059816; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2077.408767; finalDepth = 2072.134014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.6665229999999 # Actual altitude: 87.6665229999999 # Commanded vehicle depth:2072.134014 # Seafloor depth:-2159.800537 # 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 = 17.53; 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 110.684735 meters # Minimum depth: 2157.408767 meters looking forward 200.000000 meters along route # Maximum depth: 2169.852402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.408767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998350; longitude = -129.060039; captureRadius = 10; duration = 110; initialDepth = 2080.419349; finalDepth = 2077.408767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 87.6665229999999 # Actual altitude: 87.6665229999999 # Commanded vehicle depth:2077.408767 # Seafloor depth:-2160.419349 # 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 = 17.53; 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 110.684735 meters # Minimum depth: 2160.419349 meters looking forward 200.000000 meters along route # Maximum depth: 2170.858765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.419349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998785; longitude = -129.061333; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.968770; finalDepth = 2080.419349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.4394160000002 # Actual altitude: 90.4394160000002 # Commanded vehicle depth:2080.419349 # Seafloor depth:-2170.858765 # 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 = 18.09; 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 110.684735 meters # Minimum depth: 2161.968770 meters looking forward 200.000000 meters along route # Maximum depth: 2170.858765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.968770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998077; longitude = -129.061779; captureRadius = 10; duration = 110; initialDepth = 2081.968770; finalDepth = 2081.968770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.4394160000002 # Actual altitude: 90.4394160000002 # Commanded vehicle depth:2081.96877 # Seafloor depth:-2165.627845 # 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 = 18.09; 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 110.684735 meters # Minimum depth: 2161.968770 meters looking forward 200.000000 meters along route # Maximum depth: 2164.359552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.968770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997227; longitude = -129.062314; captureRadius = 10; duration = 110; initialDepth = 2083.281922; finalDepth = 2081.968770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.659075 # Actual altitude: 83.659075 # Commanded vehicle depth:2081.96877 # Seafloor depth:-2162.845124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.64; 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 = 334.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2163.281922 meters looking forward 200.000000 meters along route # Maximum depth: 2164.473995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.281922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996377; longitude = -129.062850; captureRadius = 10; duration = 110; initialDepth = 2081.303935; finalDepth = 2083.281922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1920729999997 # Actual altitude: 81.1920729999997 # Commanded vehicle depth:2083.281922 # Seafloor depth:-2164.473995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2161.303935 meters looking forward 200.000000 meters along route # Maximum depth: 2164.113318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.303935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995527; longitude = -129.063385; captureRadius = 10; duration = 110; initialDepth = 2079.382362; finalDepth = 2081.303935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1796239999999 # Actual altitude: 82.1796239999999 # Commanded vehicle depth:2081.303935 # Seafloor depth:-2163.483559 # 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 110.684735 meters # Minimum depth: 2159.382362 meters looking forward 200.000000 meters along route # Maximum depth: 2163.247041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.382362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994677; longitude = -129.063920; captureRadius = 10; duration = 110; initialDepth = 2073.769907; finalDepth = 2079.382362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1796239999999 # Actual altitude: 82.1796239999999 # Commanded vehicle depth:2079.382362 # Seafloor depth:-2160.439543 # 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 110.684735 meters # Minimum depth: 2153.769907 meters looking forward 200.000000 meters along route # Maximum depth: 2159.760508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.769907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993827; longitude = -129.064456; captureRadius = 10; duration = 110; initialDepth = 2073.156439; finalDepth = 2073.769907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6760400000003 # Actual altitude: 85.6760400000003 # Commanded vehicle depth:2073.769907 # Seafloor depth:-2159.445947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 342.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2153.156439 meters looking forward 200.000000 meters along route # Maximum depth: 2157.333662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.156439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992978; longitude = -129.064991; captureRadius = 10; duration = 110; initialDepth = 2072.451269; finalDepth = 2073.156439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6760400000003 # Actual altitude: 85.6760400000003 # Commanded vehicle depth:2073.156439 # Seafloor depth:-2153.744445 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 342.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2152.451269 meters looking forward 200.000000 meters along route # Maximum depth: 2154.014559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.451269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992128; longitude = -129.065526; captureRadius = 10; duration = 110; initialDepth = 2059.198831; finalDepth = 2072.451269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.588006 # Actual altitude: 80.588006 # Commanded vehicle depth:2072.451269 # Seafloor depth:-2152.759324 # 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 110.684735 meters # Minimum depth: 2139.198831 meters looking forward 200.000000 meters along route # Maximum depth: 2152.623617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.198831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991278; longitude = -129.066062; captureRadius = 10; duration = 110; initialDepth = 2049.828126; finalDepth = 2059.198831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.7837339999996 # Actual altitude: 91.7837339999996 # Commanded vehicle depth:2059.198831 # Seafloor depth:-2150.982565 # 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 110.684735 meters # Minimum depth: 2129.828126 meters looking forward 200.000000 meters along route # Maximum depth: 2147.645195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.828126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990428; longitude = -129.066597; captureRadius = 10; duration = 110; initialDepth = 2048.449130; finalDepth = 2049.828126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.7837339999996 # Actual altitude: 91.7837339999996 # Commanded vehicle depth:2049.828126 # Seafloor depth:-2135.016352 # 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 110.684735 meters # Minimum depth: 2128.449130 meters looking forward 200.000000 meters along route # Maximum depth: 2132.835194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.449130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989578; longitude = -129.067132; captureRadius = 10; duration = 110; initialDepth = 2048.790068; finalDepth = 2048.449130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1882260000002 # Actual altitude: 85.1882260000002 # Commanded vehicle depth:2048.44913 # Seafloor depth:-2128.449130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.75; 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 = 340.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2128.790068 meters looking forward 200.000000 meters along route # Maximum depth: 2137.012670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.790068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988728; longitude = -129.067668; captureRadius = 10; duration = 110; initialDepth = 2052.801961; finalDepth = 2048.790068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2743530000002 # Actual altitude: 86.2743530000002 # Commanded vehicle depth:2048.790068 # Seafloor depth:-2135.064421 # 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 = 17.25; 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 110.684735 meters # Minimum depth: 2132.801961 meters looking forward 200.000000 meters along route # Maximum depth: 2137.012670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.801961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987878; longitude = -129.068203; captureRadius = 10; duration = 110; initialDepth = 2051.435969; finalDepth = 2052.801961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2743530000002 # Actual altitude: 86.2743530000002 # Commanded vehicle depth:2052.801961 # Seafloor depth:-2136.541359 # 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 = 17.25; 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 110.684735 meters # Minimum depth: 2131.435969 meters looking forward 200.000000 meters along route # Maximum depth: 2135.401106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.435969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987028; longitude = -129.068738; captureRadius = 10; duration = 110; initialDepth = 2050.039458; finalDepth = 2051.435969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7393979999997 # Actual altitude: 83.7393979999997 # Commanded vehicle depth:2051.435969 # Seafloor depth:-2132.031318 # 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 110.684735 meters # Minimum depth: 2130.039458 meters looking forward 200.000000 meters along route # Maximum depth: 2131.605746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.039458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986178; longitude = -129.069274; captureRadius = 10; duration = 110; initialDepth = 2050.039458; finalDepth = 2050.039458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7461879999996 # Actual altitude: 80.7461879999996 # Commanded vehicle depth:2050.039458 # Seafloor depth:-2130.785646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.98; 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 = 322.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2130.039458 meters looking forward 200.000000 meters along route # Maximum depth: 2131.805177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.039458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985328; longitude = -129.069809; captureRadius = 10; duration = 110; initialDepth = 2051.343608; finalDepth = 2050.039458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7461879999996 # Actual altitude: 80.7461879999996 # Commanded vehicle depth:2050.039458 # Seafloor depth:-2130.522889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.98; 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 = 322.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2131.343608 meters looking forward 200.000000 meters along route # Maximum depth: 2131.868340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.343608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984478; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2049.927397; finalDepth = 2051.343608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4834309999997 # Actual altitude: 80.4834309999997 # Commanded vehicle depth:2051.343608 # Seafloor depth:-2131.662702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.93; 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 = 321.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 110.684735 meters # Minimum depth: 2129.927397 meters looking forward 200.000000 meters along route # Maximum depth: 2131.868340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.927397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983628; longitude = -129.070880; captureRadius = 10; duration = 110; initialDepth = 2049.530567; finalDepth = 2049.927397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4297080000001 # Actual altitude: 81.4297080000001 # Commanded vehicle depth:2049.927397 # Seafloor depth:-2131.357105 # 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 110.684735 meters # Minimum depth: 2129.530567 meters looking forward 200.000000 meters along route # Maximum depth: 2130.793426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.530567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982778; longitude = -129.071415; captureRadius = 10; duration = 110; initialDepth = 2048.055857; finalDepth = 2049.530567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4297080000001 # Actual altitude: 81.4297080000001 # Commanded vehicle depth:2049.530567 # Seafloor depth:-2130.233447 # 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 110.684735 meters # Minimum depth: 2128.055857 meters looking forward 200.000000 meters along route # Maximum depth: 2130.734152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.055857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981786; longitude = -129.072040; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2046.160906; finalDepth = 2048.055857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7028800000003 # Actual altitude: 80.7028800000003 # Commanded vehicle depth:2048.055857 # Seafloor depth:-2128.566162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.81; 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 = 322.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 110.684735 meters # Minimum depth: 2126.160906 meters looking forward 200.000000 meters along route # Maximum depth: 2130.734152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.160906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981666; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2046.160906; finalDepth = 2046.160906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9929910000001 # Actual altitude: 80.9929910000001 # Commanded vehicle depth:2046.160906 # Seafloor depth:-2127.153897 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.97; 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 = 323.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 110.684735 meters # Minimum depth: 2126.160906 meters looking forward 200.000000 meters along route # Maximum depth: 2128.566162 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.160906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980977; longitude = -129.073244; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2049.287346; finalDepth = 2046.160906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9929910000001 # Actual altitude: 80.9929910000001 # Commanded vehicle depth:2046.160906 # Seafloor depth:-2126.716064 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.97; 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 = 323.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 110.684735 meters # Minimum depth: 2129.287346 meters looking forward 200.000000 meters along route # Maximum depth: 2132.161026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.287346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981551; longitude = -129.073155; captureRadius = 10; duration = 110; initialDepth = 2049.287346; finalDepth = 2049.287346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 80.5551580000001 # Actual altitude: 80.5551580000001 # Commanded vehicle depth:2049.287346 # Seafloor depth:-2129.287346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.22; 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 = 322.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 110.684735 meters # Minimum depth: 2129.287346 meters looking forward 200.000000 meters along route # Maximum depth: 2134.665833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.287346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982985; longitude = -129.072932; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2051.856561; finalDepth = 2049.287346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.378487 # Actual altitude: 85.378487 # Commanded vehicle depth:2049.287346 # Seafloor depth:-2134.665833 # 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 54 # Segment length 110.684735 meters # Minimum depth: 2132.161026 meters looking forward 200.000000 meters along route # Maximum depth: 2134.665833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.856561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983056; longitude = -129.072887; captureRadius = 10; duration = 110; initialDepth = 2052.197919; finalDepth = 2051.856561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.378487 # Actual altitude: 85.378487 # Commanded vehicle depth:2051.856561 # Seafloor depth:-2133.937397 # 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 54 # Segment length 110.684735 meters # Minimum depth: 2132.197919 meters looking forward 200.000000 meters along route # Maximum depth: 2136.724071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.197919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983904; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2054.769051; finalDepth = 2052.197919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0808359999996 # Actual altitude: 82.0808359999996 # Commanded vehicle depth:2052.197919 # Seafloor depth:-2133.213251 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.32; 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 = 328.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2134.769051 meters looking forward 200.000000 meters along route # Maximum depth: 2137.010260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.769051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984752; longitude = -129.071817; captureRadius = 10; duration = 110; initialDepth = 2055.628999; finalDepth = 2054.769051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1201769999998 # Actual altitude: 82.1201769999998 # Commanded vehicle depth:2054.769051 # Seafloor depth:-2136.889228 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.48; 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 = 328.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2135.628999 meters looking forward 200.000000 meters along route # Maximum depth: 2138.978503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.628999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985599; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2055.875404; finalDepth = 2055.628999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1201769999998 # Actual altitude: 82.1201769999998 # Commanded vehicle depth:2055.628999 # Seafloor depth:-2135.628999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.48; 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 = 328.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2135.875404 meters looking forward 200.000000 meters along route # Maximum depth: 2143.058626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.875404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986447; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2059.812479; finalDepth = 2055.875404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5528720000002 # Actual altitude: 84.5528720000002 # Commanded vehicle depth:2055.875404 # Seafloor depth:-2140.428276 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.21; 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 = 338.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2139.812479 meters looking forward 200.000000 meters along route # Maximum depth: 2143.058626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.812479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987295; longitude = -129.070210; captureRadius = 10; duration = 110; initialDepth = 2059.812479; finalDepth = 2059.812479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5528720000002 # Actual altitude: 84.5528720000002 # Commanded vehicle depth:2059.812479 # Seafloor depth:-2141.962228 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.21; 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 = 338.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2139.812479 meters looking forward 200.000000 meters along route # Maximum depth: 2143.573700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.812479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988143; longitude = -129.069675; captureRadius = 10; duration = 110; initialDepth = 2061.874750; finalDepth = 2059.812479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1497489999997 # Actual altitude: 82.1497489999997 # Commanded vehicle depth:2059.812479 # Seafloor depth:-2140.743874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.60; 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 = 328.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2141.874750 meters looking forward 200.000000 meters along route # Maximum depth: 2143.573700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.874750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988991; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2060.093685; finalDepth = 2061.874750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9313949999996 # Actual altitude: 80.9313949999996 # Commanded vehicle depth:2061.87475 # Seafloor depth:-2142.485623 # 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 110.684735 meters # Minimum depth: 2140.093685 meters looking forward 200.000000 meters along route # Maximum depth: 2142.261846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.093685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989838; longitude = -129.068604; captureRadius = 10; duration = 110; initialDepth = 2060.093685; finalDepth = 2060.093685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.8946030000002 # Actual altitude: 80.8946030000002 # Commanded vehicle depth:2060.093685 # Seafloor depth:-2140.988288 # 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 110.684735 meters # Minimum depth: 2140.093685 meters looking forward 200.000000 meters along route # Maximum depth: 2148.027613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.093685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990686; longitude = -129.068069; captureRadius = 10; duration = 110; initialDepth = 2063.502969; finalDepth = 2060.093685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6282670000001 # Actual altitude: 81.6282670000001 # Commanded vehicle depth:2060.093685 # Seafloor depth:-2141.721952 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.51; 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 = 326.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2143.502969 meters looking forward 200.000000 meters along route # Maximum depth: 2155.741366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.502969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991534; longitude = -129.067534; captureRadius = 10; duration = 110; initialDepth = 2073.372899; finalDepth = 2063.502969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4519449999998 # Actual altitude: 87.4519449999998 # Commanded vehicle depth:2063.502969 # Seafloor depth:-2150.954914 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.81; 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 = 349.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2153.372899 meters looking forward 200.000000 meters along route # Maximum depth: 2158.898002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.372899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992382; longitude = -129.066998; captureRadius = 10; duration = 110; initialDepth = 2077.755275; finalDepth = 2073.372899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4519449999998 # Actual altitude: 87.4519449999998 # Commanded vehicle depth:2073.372899 # Seafloor depth:-2156.862248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.81; 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 = 349.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2157.755275 meters looking forward 200.000000 meters along route # Maximum depth: 2158.988933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.755275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993230; longitude = -129.066463; captureRadius = 10; duration = 110; initialDepth = 2077.904603; finalDepth = 2077.755275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4893489999999 # Actual altitude: 83.4893489999999 # Commanded vehicle depth:2077.755275 # Seafloor depth:-2158.988933 # 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 54 # Segment length 110.684735 meters # Minimum depth: 2157.904603 meters looking forward 200.000000 meters along route # Maximum depth: 2161.568598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.904603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994077; longitude = -129.065928; captureRadius = 10; duration = 110; initialDepth = 2080.947631; finalDepth = 2077.904603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.775271 # Actual altitude: 81.775271 # Commanded vehicle depth:2077.904603 # Seafloor depth:-2159.679874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.10; 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 = 327.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2160.947631 meters looking forward 200.000000 meters along route # Maximum depth: 2163.875528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.947631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994925; longitude = -129.065392; captureRadius = 10; duration = 110; initialDepth = 2082.624629; finalDepth = 2080.947631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.775271 # Actual altitude: 81.775271 # Commanded vehicle depth:2080.947631 # Seafloor depth:-2162.132726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.10; 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 = 327.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2162.624629 meters looking forward 200.000000 meters along route # Maximum depth: 2167.229551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.624629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995773; longitude = -129.064857; captureRadius = 10; duration = 110; initialDepth = 2086.646109; finalDepth = 2082.624629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0505619999999 # Actual altitude: 83.0505619999999 # Commanded vehicle depth:2082.624629 # Seafloor depth:-2165.675191 # 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 54 # Segment length 110.684735 meters # Minimum depth: 2166.646109 meters looking forward 200.000000 meters along route # Maximum depth: 2170.785712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.646109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996621; longitude = -129.064322; captureRadius = 10; duration = 110; initialDepth = 2089.417979; finalDepth = 2086.646109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0505619999999 # Actual altitude: 83.0505619999999 # Commanded vehicle depth:2086.646109 # Seafloor depth:-2168.258873 # 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 54 # Segment length 110.684735 meters # Minimum depth: 2169.417979 meters looking forward 200.000000 meters along route # Maximum depth: 2173.590419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.417979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997469; longitude = -129.063786; captureRadius = 10; duration = 110; initialDepth = 2091.816921; finalDepth = 2089.417979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9299920000003 # Actual altitude: 81.9299920000003 # Commanded vehicle depth:2089.417979 # Seafloor depth:-2171.347971 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 327.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 110.684735 meters # Minimum depth: 2171.816921 meters looking forward 200.000000 meters along route # Maximum depth: 2178.292482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.816921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998316; longitude = -129.063251; captureRadius = 10; duration = 110; initialDepth = 2091.816921; finalDepth = 2091.816921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.8302530000001 # Actual altitude: 82.8302530000001 # Commanded vehicle depth:2091.816921 # Seafloor depth:-2174.647174 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 110.684735 meters # Minimum depth: 2171.816921 meters looking forward 200.000000 meters along route # Maximum depth: 2178.513550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.816921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999235; longitude = -129.062671; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2092.913021; finalDepth = 2091.816921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.696629 # Actual altitude: 86.696629 # Commanded vehicle depth:2091.816921 # Seafloor depth:-2178.513550 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.79; 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 = 346.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 110.684735 meters # Minimum depth: 2175.439224 meters looking forward 200.000000 meters along route # Maximum depth: 2178.513550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.913021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999248; longitude = -129.062716; captureRadius = 10; duration = 110; initialDepth = 2095.608216; finalDepth = 2092.913021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 86.696629 # Actual altitude: 86.696629 # Commanded vehicle depth:2092.9130214 # Seafloor depth:-2178.402364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.79; 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 = 346.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 110.684735 meters # Minimum depth: 2175.608216 meters looking forward 200.000000 meters along route # Maximum depth: 2178.513550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.608216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999624; longitude = -129.063965; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2090.764752; finalDepth = 2095.608216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4893425999981 # Actual altitude: 85.4893425999981 # Commanded vehicle depth:2095.608216 # Seafloor depth:-2176.387817 # 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 110.684735 meters # Minimum depth: 2170.764752 meters looking forward 200.000000 meters along route # Maximum depth: 2177.418689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.764752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999065; longitude = -129.064322; captureRadius = 10; duration = 110; initialDepth = 2089.589994; finalDepth = 2090.764752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.127156 # Actual altitude: 83.127156 # Commanded vehicle depth:2090.764752 # Seafloor depth:-2173.891908 # 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 110.684735 meters # Minimum depth: 2169.589994 meters looking forward 200.000000 meters along route # Maximum depth: 2172.045732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.589994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998227; longitude = -129.064857; captureRadius = 10; duration = 110; initialDepth = 2085.326054; finalDepth = 2089.589994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.127156 # Actual altitude: 83.127156 # Commanded vehicle depth:2089.589994 # Seafloor depth:-2171.054559 # 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 110.684735 meters # Minimum depth: 2165.326054 meters looking forward 200.000000 meters along route # Maximum depth: 2170.836379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.326054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997389; longitude = -129.065392; captureRadius = 10; duration = 110; initialDepth = 2080.938836; finalDepth = 2085.326054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.154254 # Actual altitude: 83.154254 # Commanded vehicle depth:2085.326054 # Seafloor depth:-2168.480308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.62; 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 = 332.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2160.938836 meters looking forward 200.000000 meters along route # Maximum depth: 2167.176013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.938836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996550; longitude = -129.065928; captureRadius = 10; duration = 110; initialDepth = 2080.039821; finalDepth = 2080.938836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4849250000002 # Actual altitude: 84.4849250000002 # Commanded vehicle depth:2080.938836 # Seafloor depth:-2165.423761 # 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 52 # Segment length 110.684735 meters # Minimum depth: 2160.039821 meters looking forward 200.000000 meters along route # Maximum depth: 2165.040319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.039821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995712; longitude = -129.066463; captureRadius = 10; duration = 110; initialDepth = 2080.039821; finalDepth = 2080.039821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4849250000002 # Actual altitude: 84.4849250000002 # Commanded vehicle depth:2080.039821 # Seafloor depth:-2160.345451 # 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 52 # Segment length 110.684735 meters # Minimum depth: 2160.039821 meters looking forward 200.000000 meters along route # Maximum depth: 2162.197905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.039821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994874; longitude = -129.066998; captureRadius = 10; duration = 110; initialDepth = 2081.503695; finalDepth = 2080.039821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8826650000001 # Actual altitude: 81.8826650000001 # Commanded vehicle depth:2080.039821 # Seafloor depth:-2161.922486 # 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 110.684735 meters # Minimum depth: 2161.503695 meters looking forward 200.000000 meters along route # Maximum depth: 2162.197905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.503695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994035; longitude = -129.067534; captureRadius = 10; duration = 110; initialDepth = 2077.277652; finalDepth = 2081.503695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8826650000001 # Actual altitude: 81.8826650000001 # Commanded vehicle depth:2081.503695 # Seafloor depth:-2161.565204 # 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 110.684735 meters # Minimum depth: 2157.277652 meters looking forward 200.000000 meters along route # Maximum depth: 2162.030282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.277652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993197; longitude = -129.068069; captureRadius = 10; duration = 110; initialDepth = 2069.425890; finalDepth = 2077.277652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4891679999996 # Actual altitude: 83.4891679999996 # Commanded vehicle depth:2077.277652 # Seafloor depth:-2160.766820 # 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 110.684735 meters # Minimum depth: 2149.425890 meters looking forward 200.000000 meters along route # Maximum depth: 2159.290970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.425890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992358; longitude = -129.068604; captureRadius = 10; duration = 110; initialDepth = 2066.207687; finalDepth = 2069.425890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8574950000002 # Actual altitude: 86.8574950000002 # Commanded vehicle depth:2069.42589 # Seafloor depth:-2156.283385 # 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 110.684735 meters # Minimum depth: 2146.207687 meters looking forward 200.000000 meters along route # Maximum depth: 2153.906399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.207687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991520; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2064.991334; finalDepth = 2066.207687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8574950000002 # Actual altitude: 86.8574950000002 # Commanded vehicle depth:2066.207687 # Seafloor depth:-2148.601480 # 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 110.684735 meters # Minimum depth: 2144.991334 meters looking forward 200.000000 meters along route # Maximum depth: 2148.004651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.991334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990682; longitude = -129.069675; captureRadius = 10; duration = 110; initialDepth = 2064.991334; finalDepth = 2064.991334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3937929999997 # Actual altitude: 82.3937929999997 # Commanded vehicle depth:2064.991334 # Seafloor depth:-2145.094279 # 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 110.684735 meters # Minimum depth: 2144.991334 meters looking forward 200.000000 meters along route # Maximum depth: 2146.504910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.991334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989843; longitude = -129.070210; captureRadius = 10; duration = 110; initialDepth = 2064.419099; finalDepth = 2064.991334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3910530000003 # Actual altitude: 80.3910530000003 # Commanded vehicle depth:2064.991334 # Seafloor depth:-2145.382387 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.56; 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 = 321.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2144.419099 meters looking forward 200.000000 meters along route # Maximum depth: 2146.851973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.419099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989005; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2064.419099; finalDepth = 2064.419099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4328739999996 # Actual altitude: 82.4328739999996 # Commanded vehicle depth:2064.419099 # Seafloor depth:-2146.851973 # 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 52 # Segment length 110.684735 meters # Minimum depth: 2144.419099 meters looking forward 200.000000 meters along route # Maximum depth: 2149.180838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.419099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988167; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2065.683401; finalDepth = 2064.419099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4328739999996 # Actual altitude: 82.4328739999996 # Commanded vehicle depth:2064.419099 # Seafloor depth:-2144.594654 # 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 52 # Segment length 110.684735 meters # Minimum depth: 2145.683401 meters looking forward 200.000000 meters along route # Maximum depth: 2150.744186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.683401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987328; longitude = -129.071817; captureRadius = 10; duration = 110; initialDepth = 2066.894045; finalDepth = 2065.683401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2424850000002 # Actual altitude: 84.2424850000002 # Commanded vehicle depth:2065.683401 # Seafloor depth:-2149.925886 # 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 110.684735 meters # Minimum depth: 2146.894045 meters looking forward 200.000000 meters along route # Maximum depth: 2150.744186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.894045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986490; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2065.646449; finalDepth = 2066.894045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2424850000002 # Actual altitude: 84.2424850000002 # Commanded vehicle depth:2066.894045 # Seafloor depth:-2149.408887 # 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 110.684735 meters # Minimum depth: 2145.646449 meters looking forward 200.000000 meters along route # Maximum depth: 2148.159461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.646449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985652; longitude = -129.072887; captureRadius = 10; duration = 110; initialDepth = 2065.646449; finalDepth = 2065.646449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.514842 # Actual altitude: 82.514842 # Commanded vehicle depth:2065.646449 # Seafloor depth:-2146.266858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.06; 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 = 330.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2145.646449 meters looking forward 200.000000 meters along route # Maximum depth: 2148.178859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.646449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984813; longitude = -129.073423; captureRadius = 10; duration = 110; initialDepth = 2066.774709; finalDepth = 2065.646449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5063840000003 # Actual altitude: 81.5063840000003 # Commanded vehicle depth:2065.646449 # Seafloor depth:-2147.152833 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.03; 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 = 326.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2146.774709 meters looking forward 200.000000 meters along route # Maximum depth: 2155.805992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.774709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983975; longitude = -129.073958; captureRadius = 10; duration = 110; initialDepth = 2072.162335; finalDepth = 2066.774709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4875630000001 # Actual altitude: 84.4875630000001 # Commanded vehicle depth:2066.774709 # Seafloor depth:-2151.262272 # 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 110.684735 meters # Minimum depth: 2152.162335 meters looking forward 200.000000 meters along route # Maximum depth: 2155.805992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.162335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983136; longitude = -129.074493; captureRadius = 10; duration = 110; initialDepth = 2069.663010; finalDepth = 2072.162335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4875630000001 # Actual altitude: 84.4875630000001 # Commanded vehicle depth:2072.162335 # Seafloor depth:-2155.678782 # 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 110.684735 meters # Minimum depth: 2149.663010 meters looking forward 200.000000 meters along route # Maximum depth: 2155.025218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.663010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982298; longitude = -129.075029; captureRadius = 10; duration = 110; initialDepth = 2069.663010; finalDepth = 2069.663010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.516447 # Actual altitude: 83.516447 # Commanded vehicle depth:2069.66301 # Seafloor depth:-2150.309607 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.07; 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 = 334.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2149.663010 meters looking forward 200.000000 meters along route # Maximum depth: 2161.795978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.663010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981460; longitude = -129.075564; captureRadius = 10; duration = 110; initialDepth = 2080.584436; finalDepth = 2069.663010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7214719999997 # Actual altitude: 87.7214719999997 # Commanded vehicle depth:2069.66301 # Seafloor depth:-2157.384482 # 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 110.684735 meters # Minimum depth: 2160.584436 meters looking forward 200.000000 meters along route # Maximum depth: 2164.249669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.584436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980621; longitude = -129.076099; captureRadius = 10; duration = 110; initialDepth = 2081.456906; finalDepth = 2080.584436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7214719999997 # Actual altitude: 87.7214719999997 # Commanded vehicle depth:2080.584436 # Seafloor depth:-2161.324896 # 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 110.684735 meters # Minimum depth: 2161.456906 meters looking forward 200.000000 meters along route # Maximum depth: 2166.035770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.456906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979783; longitude = -129.076635; captureRadius = 10; duration = 110; initialDepth = 2083.232047; finalDepth = 2081.456906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5788640000001 # Actual altitude: 84.5788640000001 # Commanded vehicle depth:2081.456906 # Seafloor depth:-2166.035770 # 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 110.684735 meters # Minimum depth: 2163.232047 meters looking forward 200.000000 meters along route # Maximum depth: 2166.022397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.232047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978945; longitude = -129.077170; captureRadius = 10; duration = 110; initialDepth = 2082.057930; finalDepth = 2083.232047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5788640000001 # Actual altitude: 84.5788640000001 # Commanded vehicle depth:2083.232047 # Seafloor depth:-2164.217454 # 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 110.684735 meters # Minimum depth: 2162.057930 meters looking forward 200.000000 meters along route # Maximum depth: 2164.099077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.057930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978106; longitude = -129.077705; captureRadius = 10; duration = 110; initialDepth = 2080.714070; finalDepth = 2082.057930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.026574 # Actual altitude: 81.026574 # Commanded vehicle depth:2082.05793 # Seafloor depth:-2163.084504 # 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 110.684735 meters # Minimum depth: 2160.714070 meters looking forward 200.000000 meters along route # Maximum depth: 2164.407146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.714070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977268; longitude = -129.078241; captureRadius = 10; duration = 110; initialDepth = 2076.819842; finalDepth = 2080.714070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.189398 # Actual altitude: 82.189398 # Commanded vehicle depth:2080.71407 # Seafloor depth:-2162.903468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.76; 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 = 328.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2156.819842 meters looking forward 200.000000 meters along route # Maximum depth: 2164.407146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.819842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976430; longitude = -129.078776; captureRadius = 10; duration = 110; initialDepth = 2074.115645; finalDepth = 2076.819842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.189398 # Actual altitude: 82.189398 # Commanded vehicle depth:2076.819842 # Seafloor depth:-2158.036973 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.76; 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 = 328.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2154.115645 meters looking forward 200.000000 meters along route # Maximum depth: 2157.433993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.115645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975591; longitude = -129.079311; captureRadius = 10; duration = 110; initialDepth = 2070.299129; finalDepth = 2074.115645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2171310000003 # Actual altitude: 81.2171310000003 # Commanded vehicle depth:2074.115645 # Seafloor depth:-2155.232591 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.87; 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 = 324.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2150.299129 meters looking forward 200.000000 meters along route # Maximum depth: 2154.238980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.299129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974753; longitude = -129.079847; captureRadius = 10; duration = 110; initialDepth = 2068.433873; finalDepth = 2070.299129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4277769999999 # Actual altitude: 83.4277769999999 # Commanded vehicle depth:2070.299129 # Seafloor depth:-2153.726906 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2148.433873 meters looking forward 200.000000 meters along route # Maximum depth: 2152.622108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.433873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973914; longitude = -129.080382; captureRadius = 10; duration = 110; initialDepth = 2066.996816; finalDepth = 2068.433873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4277769999999 # Actual altitude: 83.4277769999999 # Commanded vehicle depth:2068.433873 # Seafloor depth:-2149.373878 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2146.996816 meters looking forward 200.000000 meters along route # Maximum depth: 2149.058424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.996816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973076; longitude = -129.080917; captureRadius = 10; duration = 110; initialDepth = 2066.996816; finalDepth = 2066.996816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9400049999999 # Actual altitude: 80.9400049999999 # Commanded vehicle depth:2066.996816 # Seafloor depth:-2147.472418 # 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 110.684735 meters # Minimum depth: 2146.996816 meters looking forward 200.000000 meters along route # Maximum depth: 2151.403291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.996816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972238; longitude = -129.081453; captureRadius = 10; duration = 110; initialDepth = 2070.496210; finalDepth = 2066.996816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5729679999999 # Actual altitude: 82.5729679999999 # Commanded vehicle depth:2066.996816 # Seafloor depth:-2149.569784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.29; 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 = 330.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2150.496210 meters looking forward 200.000000 meters along route # Maximum depth: 2151.403291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.496210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971399; longitude = -129.081988; captureRadius = 10; duration = 110; initialDepth = 2070.496210; finalDepth = 2070.496210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5729679999999 # Actual altitude: 82.5729679999999 # Commanded vehicle depth:2070.49621 # Seafloor depth:-2150.589286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.29; 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 = 330.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 110.684735 meters # Minimum depth: 2150.496210 meters looking forward 200.000000 meters along route # Maximum depth: 2154.363099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.496210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970561; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2071.778954; finalDepth = 2070.496210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0493690000003 # Actual altitude: 81.0493690000003 # Commanded vehicle depth:2070.49621 # Seafloor depth:-2151.545579 # 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 110.684735 meters # Minimum depth: 2151.778954 meters looking forward 200.000000 meters along route # Maximum depth: 2163.730229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.778954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969723; longitude = -129.083059; captureRadius = 10; duration = 110; initialDepth = 2079.241395; finalDepth = 2071.778954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.245316 # Actual altitude: 85.245316 # Commanded vehicle depth:2071.778954 # Seafloor depth:-2157.024270 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 110.684735 meters # Minimum depth: 2159.241395 meters looking forward 200.000000 meters along route # Maximum depth: 2178.124468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.241395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968745; longitude = -129.083683; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2083.730229; finalDepth = 2079.241395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 85.245316 # Actual altitude: 85.245316 # Commanded vehicle depth:2079.241395 # Seafloor depth:-2164.238770 # 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 50 # Segment length 110.684735 meters # Minimum depth: 2163.730229 meters looking forward 200.000000 meters along route # Maximum depth: 2179.049316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.730229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969015; longitude = -129.084888; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.657006; finalDepth = 2083.730229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.3190870000003 # Actual altitude: 95.3190870000003 # Commanded vehicle depth:2083.730229 # Seafloor depth:-2179.049316 # 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 = 19.06; 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 110.684735 meters # Minimum depth: 2171.657006 meters looking forward 200.000000 meters along route # Maximum depth: 2179.049316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.657006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969577; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2085.222499; finalDepth = 2091.657006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.3190870000003 # Actual altitude: 95.3190870000003 # Commanded vehicle depth:2091.657006 # Seafloor depth:-2175.897721 # 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 = 19.06; 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 110.684735 meters # Minimum depth: 2165.222499 meters looking forward 200.000000 meters along route # Maximum depth: 2175.195027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.222499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970418; longitude = -129.083996; captureRadius = 10; duration = 110; initialDepth = 2080.514937; finalDepth = 2085.222499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8071209999998 # Actual altitude: 84.8071209999998 # Commanded vehicle depth:2085.222499 # Seafloor depth:-2170.029620 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.23; 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 = 339.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2160.514937 meters looking forward 200.000000 meters along route # Maximum depth: 2168.424121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.514937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971260; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2075.895731; finalDepth = 2080.514937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8071209999998 # Actual altitude: 84.8071209999998 # Commanded vehicle depth:2080.514937 # Seafloor depth:-2163.915390 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.23; 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 = 339.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2155.895731 meters looking forward 200.000000 meters along route # Maximum depth: 2162.485039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.895731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972102; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2074.221630; finalDepth = 2075.895731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.1618519999997 # Actual altitude: 84.1618519999997 # Commanded vehicle depth:2075.895731 # Seafloor depth:-2160.057583 # 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 110.684735 meters # Minimum depth: 2154.221630 meters looking forward 200.000000 meters along route # Maximum depth: 2159.020497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.221630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972944; longitude = -129.082390; captureRadius = 10; duration = 110; initialDepth = 2071.592422; finalDepth = 2074.221630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.1618519999997 # Actual altitude: 84.1618519999997 # Commanded vehicle depth:2074.22163 # Seafloor depth:-2154.827870 # 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 110.684735 meters # Minimum depth: 2151.592422 meters looking forward 200.000000 meters along route # Maximum depth: 2154.914645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.592422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973786; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2071.191678; finalDepth = 2071.592422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3222229999997 # Actual altitude: 83.3222229999997 # Commanded vehicle depth:2071.592422 # Seafloor depth:-2154.914645 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.29; 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 = 333.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2151.191678 meters looking forward 200.000000 meters along route # Maximum depth: 2154.418108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.191678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974628; longitude = -129.081319; captureRadius = 10; duration = 110; initialDepth = 2069.774051; finalDepth = 2071.191678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3222229999997 # Actual altitude: 83.3222229999997 # Commanded vehicle depth:2071.191678 # Seafloor depth:-2151.191678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.29; 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 = 333.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2149.774051 meters looking forward 200.000000 meters along route # Maximum depth: 2151.570760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.774051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975470; longitude = -129.080784; captureRadius = 10; duration = 110; initialDepth = 2069.774051; finalDepth = 2069.774051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2280810000002 # Actual altitude: 81.2280810000002 # Commanded vehicle depth:2069.774051 # Seafloor depth:-2151.002132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.91; 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 = 324.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2149.774051 meters looking forward 200.000000 meters along route # Maximum depth: 2154.752243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.774051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976312; longitude = -129.080248; captureRadius = 10; duration = 110; initialDepth = 2072.106564; finalDepth = 2069.774051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3550190000001 # Actual altitude: 81.3550190000001 # Commanded vehicle depth:2069.774051 # Seafloor depth:-2151.129070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.42; 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 = 325.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2152.106564 meters looking forward 200.000000 meters along route # Maximum depth: 2159.427799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.106564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977153; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2079.024833; finalDepth = 2072.106564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3131409999996 # Actual altitude: 85.3131409999996 # Commanded vehicle depth:2072.106564 # Seafloor depth:-2157.419705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.25; 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 = 341.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2159.024833 meters looking forward 200.000000 meters along route # Maximum depth: 2161.186921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.024833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977995; longitude = -129.079177; captureRadius = 10; duration = 110; initialDepth = 2080.906274; finalDepth = 2079.024833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3131409999996 # Actual altitude: 85.3131409999996 # Commanded vehicle depth:2079.024833 # Seafloor depth:-2159.807411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.25; 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 = 341.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2160.906274 meters looking forward 200.000000 meters along route # Maximum depth: 2163.682863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.906274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978837; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2082.151175; finalDepth = 2080.906274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7825779999998 # Actual altitude: 80.7825779999998 # Commanded vehicle depth:2080.906274 # Seafloor depth:-2161.304589 # 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 50 # Segment length 110.684735 meters # Minimum depth: 2162.151175 meters looking forward 200.000000 meters along route # Maximum depth: 2163.682863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.151175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979679; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2078.236796; finalDepth = 2082.151175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6284639999999 # Actual altitude: 80.6284639999999 # Commanded vehicle depth:2082.151175 # Seafloor depth:-2162.779639 # 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 during line 50 # Segment length 110.684735 meters # Minimum depth: 2158.236796 meters looking forward 200.000000 meters along route # Maximum depth: 2163.194203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.236796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980521; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2076.957152; finalDepth = 2078.236796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.58799 # Actual altitude: 81.58799 # Commanded vehicle depth:2078.236796 # Seafloor depth:-2159.824786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.35; 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 = 326.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2156.957152 meters looking forward 200.000000 meters along route # Maximum depth: 2159.963122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.957152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981363; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2073.471619; finalDepth = 2076.957152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4251629999999 # Actual altitude: 82.4251629999999 # Commanded vehicle depth:2076.957152 # Seafloor depth:-2159.382315 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.70; 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 = 329.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2153.471619 meters looking forward 200.000000 meters along route # Maximum depth: 2159.963122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.471619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982205; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2073.471619; finalDepth = 2073.471619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4251629999999 # Actual altitude: 82.4251629999999 # Commanded vehicle depth:2073.471619 # Seafloor depth:-2154.578648 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.70; 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 = 329.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2153.471619 meters looking forward 200.000000 meters along route # Maximum depth: 2155.291823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.471619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983046; longitude = -129.075965; captureRadius = 10; duration = 110; initialDepth = 2072.050796; finalDepth = 2073.471619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1070290000002 # Actual altitude: 81.1070290000002 # Commanded vehicle depth:2073.471619 # Seafloor depth:-2153.724857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.43; 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 = 324.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2152.050796 meters looking forward 200.000000 meters along route # Maximum depth: 2155.291823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.050796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983888; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2071.157191; finalDepth = 2072.050796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1767319999999 # Actual altitude: 83.1767319999999 # Commanded vehicle depth:2072.050796 # Seafloor depth:-2155.227528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.71; 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 = 332.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2151.157191 meters looking forward 200.000000 meters along route # Maximum depth: 2154.786328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.157191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984730; longitude = -129.074895; captureRadius = 10; duration = 110; initialDepth = 2071.603054; finalDepth = 2071.157191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1767319999999 # Actual altitude: 83.1767319999999 # Commanded vehicle depth:2071.157191 # Seafloor depth:-2151.157191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.71; 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 = 332.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2151.603054 meters looking forward 200.000000 meters along route # Maximum depth: 2153.532146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.603054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985572; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2072.846858; finalDepth = 2071.603054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6841509999999 # Actual altitude: 81.6841509999999 # Commanded vehicle depth:2071.603054 # Seafloor depth:-2153.287205 # 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 110.684735 meters # Minimum depth: 2152.846858 meters looking forward 200.000000 meters along route # Maximum depth: 2156.317772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.846858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986414; longitude = -129.073824; captureRadius = 10; duration = 110; initialDepth = 2074.716954; finalDepth = 2072.846858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6841509999999 # Actual altitude: 81.6841509999999 # Commanded vehicle depth:2072.846858 # Seafloor depth:-2154.095611 # 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 110.684735 meters # Minimum depth: 2154.716954 meters looking forward 200.000000 meters along route # Maximum depth: 2156.482070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.716954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987256; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2071.570158; finalDepth = 2074.716954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.765116 # Actual altitude: 81.765116 # Commanded vehicle depth:2074.716954 # Seafloor depth:-2156.482070 # 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 110.684735 meters # Minimum depth: 2151.570158 meters looking forward 200.000000 meters along route # Maximum depth: 2156.164041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.570158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988098; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2070.005155; finalDepth = 2071.570158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5398599999999 # Actual altitude: 82.5398599999999 # Commanded vehicle depth:2071.570158 # Seafloor depth:-2154.110018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.16; 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 = 330.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2150.005155 meters looking forward 200.000000 meters along route # Maximum depth: 2152.890542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.005155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988940; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2065.996217; finalDepth = 2070.005155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5398599999999 # Actual altitude: 82.5398599999999 # Commanded vehicle depth:2070.005155 # Seafloor depth:-2151.405635 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.16; 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 = 330.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2145.996217 meters looking forward 200.000000 meters along route # Maximum depth: 2151.289430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.996217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989781; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2065.719145; finalDepth = 2065.996217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6993379999999 # Actual altitude: 82.6993379999999 # Commanded vehicle depth:2065.996217 # Seafloor depth:-2148.695555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.80; 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 = 330.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2145.719145 meters looking forward 200.000000 meters along route # Maximum depth: 2147.135980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.719145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990623; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2064.163013; finalDepth = 2065.719145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6993379999999 # Actual altitude: 82.6993379999999 # Commanded vehicle depth:2065.719145 # Seafloor depth:-2146.634581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.80; 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 = 330.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2144.163013 meters looking forward 200.000000 meters along route # Maximum depth: 2146.430754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.163013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991465; longitude = -129.070612; captureRadius = 10; duration = 110; initialDepth = 2064.163013; finalDepth = 2064.163013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4447640000003 # Actual altitude: 81.4447640000003 # Commanded vehicle depth:2064.163013 # Seafloor depth:-2145.607777 # 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 50 # Segment length 110.684735 meters # Minimum depth: 2144.163013 meters looking forward 200.000000 meters along route # Maximum depth: 2153.813457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.163013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992307; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2069.250964; finalDepth = 2064.163013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7466600000002 # Actual altitude: 81.7466600000002 # Commanded vehicle depth:2064.163013 # Seafloor depth:-2145.909673 # 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 50 # Segment length 110.684735 meters # Minimum depth: 2149.250964 meters looking forward 200.000000 meters along route # Maximum depth: 2156.053640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.250964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993149; longitude = -129.069541; captureRadius = 10; duration = 110; initialDepth = 2074.568871; finalDepth = 2069.250964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5677220000002 # Actual altitude: 84.5677220000002 # Commanded vehicle depth:2069.250964 # Seafloor depth:-2153.818686 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.27; 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 = 338.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2154.568871 meters looking forward 200.000000 meters along route # Maximum depth: 2157.609131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.568871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993991; longitude = -129.069006; captureRadius = 10; duration = 110; initialDepth = 2077.044220; finalDepth = 2074.568871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5677220000002 # Actual altitude: 84.5677220000002 # Commanded vehicle depth:2074.568871 # Seafloor depth:-2156.531762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.27; 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 = 338.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2157.044220 meters looking forward 200.000000 meters along route # Maximum depth: 2160.538127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.044220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994833; longitude = -129.068471; captureRadius = 10; duration = 110; initialDepth = 2078.979790; finalDepth = 2077.044220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9628910000001 # Actual altitude: 81.9628910000001 # Commanded vehicle depth:2077.04422 # Seafloor depth:-2157.932023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.85; 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 = 327.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2158.979790 meters looking forward 200.000000 meters along route # Maximum depth: 2160.538127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.979790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995675; longitude = -129.067935; captureRadius = 10; duration = 110; initialDepth = 2079.629181; finalDepth = 2078.979790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4563990000001 # Actual altitude: 81.4563990000001 # Commanded vehicle depth:2078.97979 # Seafloor depth:-2160.436189 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.83; 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 = 325.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2159.629181 meters looking forward 200.000000 meters along route # Maximum depth: 2164.331628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.629181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996516; longitude = -129.067400; captureRadius = 10; duration = 110; initialDepth = 2082.813995; finalDepth = 2079.629181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4762760000003 # Actual altitude: 81.4762760000003 # Commanded vehicle depth:2079.629181 # Seafloor depth:-2161.105457 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.91; 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 = 325.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2162.813995 meters looking forward 200.000000 meters along route # Maximum depth: 2164.923473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.813995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997358; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2084.181689; finalDepth = 2082.813995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4762760000003 # Actual altitude: 81.4762760000003 # Commanded vehicle depth:2082.813995 # Seafloor depth:-2164.221847 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.91; 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 = 325.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 110.684735 meters # Minimum depth: 2164.181689 meters looking forward 200.000000 meters along route # Maximum depth: 2165.103538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.181689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998200; longitude = -129.066329; captureRadius = 10; duration = 110; initialDepth = 2084.839579; finalDepth = 2084.181689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4078519999998 # Actual altitude: 81.4078519999998 # Commanded vehicle depth:2084.181689 # Seafloor depth:-2165.103538 # 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 110.684735 meters # Minimum depth: 2164.839579 meters looking forward 200.000000 meters along route # Maximum depth: 2168.846432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.839579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999042; longitude = -129.065794; captureRadius = 10; duration = 110; initialDepth = 2085.718184; finalDepth = 2084.839579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9218489999998 # Actual altitude: 80.9218489999998 # Commanded vehicle depth:2084.839579 # Seafloor depth:-2164.996720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 323.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 110.684735 meters # Minimum depth: 2165.718184 meters looking forward 200.000000 meters along route # Maximum depth: 2180.555398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.718184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999954; longitude = -129.065214; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2088.846432; finalDepth = 2085.718184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 83.6268480000003 # Actual altitude: 83.6268480000003 # Commanded vehicle depth:2085.718184 # Seafloor depth:-2169.345032 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.51; 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 = 334.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 110.684735 meters # Minimum depth: 2168.846432 meters looking forward 200.000000 meters along route # Maximum depth: 2181.781335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.846432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000314; longitude = -129.066418; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2100.555398; finalDepth = 2088.846432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.705997 # Actual altitude: 92.705997 # Commanded vehicle depth:2088.846432 # Seafloor depth:-2181.552429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.54; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2180.555398 meters looking forward 200.000000 meters along route # Maximum depth: 2182.442060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.555398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999611; longitude = -129.066865; captureRadius = 10; duration = 110; initialDepth = 2097.756228; finalDepth = 2100.555398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.705997 # Actual altitude: 92.705997 # Commanded vehicle depth:2100.555398 # Seafloor depth:-2181.685108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.54; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2177.756228 meters looking forward 200.000000 meters along route # Maximum depth: 2182.442060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.756228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998769; longitude = -129.067400; captureRadius = 10; duration = 110; initialDepth = 2095.653505; finalDepth = 2097.756228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0920219999998 # Actual altitude: 83.0920219999998 # Commanded vehicle depth:2097.756228 # Seafloor depth:-2180.848250 # 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 110.684735 meters # Minimum depth: 2175.653505 meters looking forward 200.000000 meters along route # Maximum depth: 2179.918695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.653505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997927; longitude = -129.067935; captureRadius = 10; duration = 110; initialDepth = 2090.489165; finalDepth = 2095.653505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0920219999998 # Actual altitude: 83.0920219999998 # Commanded vehicle depth:2095.653505 # Seafloor depth:-2177.459184 # 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 110.684735 meters # Minimum depth: 2170.489165 meters looking forward 200.000000 meters along route # Maximum depth: 2177.271676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.489165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997085; longitude = -129.068471; captureRadius = 10; duration = 110; initialDepth = 2089.283096; finalDepth = 2090.489165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0534710000002 # Actual altitude: 83.0534710000002 # Commanded vehicle depth:2090.489165 # Seafloor depth:-2173.542636 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.21; 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 = 332.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2169.283096 meters looking forward 200.000000 meters along route # Maximum depth: 2171.625140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.283096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996243; longitude = -129.069006; captureRadius = 10; duration = 110; initialDepth = 2084.503865; finalDepth = 2089.283096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0534710000002 # Actual altitude: 83.0534710000002 # Commanded vehicle depth:2089.283096 # Seafloor depth:-2170.229270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.21; 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 = 332.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2164.503865 meters looking forward 200.000000 meters along route # Maximum depth: 2169.963278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.503865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995401; longitude = -129.069541; captureRadius = 10; duration = 110; initialDepth = 2075.718017; finalDepth = 2084.503865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9045699999997 # Actual altitude: 83.9045699999997 # Commanded vehicle depth:2084.503865 # Seafloor depth:-2168.408435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.62; 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 = 335.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2155.718017 meters looking forward 200.000000 meters along route # Maximum depth: 2167.202615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.718017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994559; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2067.666106; finalDepth = 2075.718017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5350639999997 # Actual altitude: 86.5350639999997 # Commanded vehicle depth:2075.718017 # Seafloor depth:-2162.253081 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.14; 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 = 346.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2147.666106 meters looking forward 200.000000 meters along route # Maximum depth: 2159.842020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.666106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993717; longitude = -129.070612; captureRadius = 10; duration = 110; initialDepth = 2059.191472; finalDepth = 2067.666106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5350639999997 # Actual altitude: 86.5350639999997 # Commanded vehicle depth:2067.666106 # Seafloor depth:-2153.258178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.14; 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 = 346.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2139.191472 meters looking forward 200.000000 meters along route # Maximum depth: 2151.234476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.191472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992874; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2056.182368; finalDepth = 2059.191472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8860049999998 # Actual altitude: 85.8860049999998 # Commanded vehicle depth:2059.191472 # Seafloor depth:-2145.077477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.54; 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 = 343.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2136.182368 meters looking forward 200.000000 meters along route # Maximum depth: 2142.289916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.182368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992032; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2056.182368; finalDepth = 2056.182368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8860049999998 # Actual altitude: 85.8860049999998 # Commanded vehicle depth:2056.182368 # Seafloor depth:-2138.351279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.54; 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 = 343.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2136.182368 meters looking forward 200.000000 meters along route # Maximum depth: 2139.791135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.182368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991190; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2057.167266; finalDepth = 2056.182368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1689109999998 # Actual altitude: 82.1689109999998 # Commanded vehicle depth:2056.182368 # Seafloor depth:-2137.138218 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.68; 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 = 328.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2137.167266 meters looking forward 200.000000 meters along route # Maximum depth: 2147.885909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.167266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990348; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2064.441203; finalDepth = 2057.167266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8998890000003 # Actual altitude: 84.8998890000003 # Commanded vehicle depth:2057.167266 # Seafloor depth:-2142.067155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.60; 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 = 339.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2144.441203 meters looking forward 200.000000 meters along route # Maximum depth: 2150.738823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.441203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989506; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2068.980263; finalDepth = 2064.441203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8998890000003 # Actual altitude: 84.8998890000003 # Commanded vehicle depth:2064.441203 # Seafloor depth:-2148.424578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.60; 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 = 339.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2148.980263 meters looking forward 200.000000 meters along route # Maximum depth: 2155.567110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.980263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988664; longitude = -129.073824; captureRadius = 10; duration = 110; initialDepth = 2073.680972; finalDepth = 2068.980263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9833750000003 # Actual altitude: 83.9833750000003 # Commanded vehicle depth:2068.980263 # Seafloor depth:-2152.496825 # 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 48 # Segment length 110.684735 meters # Minimum depth: 2153.680972 meters looking forward 200.000000 meters along route # Maximum depth: 2159.332536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.680972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987822; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2077.775576; finalDepth = 2073.680972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5165620000002 # Actual altitude: 83.5165620000002 # Commanded vehicle depth:2073.680972 # Seafloor depth:-2156.870243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.07; 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 = 334.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2157.775576 meters looking forward 200.000000 meters along route # Maximum depth: 2161.150488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.775576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986980; longitude = -129.074895; captureRadius = 10; duration = 110; initialDepth = 2078.336866; finalDepth = 2077.775576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1892709999997 # Actual altitude: 83.1892709999997 # Commanded vehicle depth:2077.775576 # Seafloor depth:-2159.794428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.76; 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 = 332.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2158.336866 meters looking forward 200.000000 meters along route # Maximum depth: 2161.150488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.336866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986137; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2075.865803; finalDepth = 2078.336866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3378419999999 # Actual altitude: 82.3378419999999 # Commanded vehicle depth:2078.336866 # Seafloor depth:-2160.674708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.35; 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 = 329.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2155.865803 meters looking forward 200.000000 meters along route # Maximum depth: 2160.496182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.865803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985295; longitude = -129.075965; captureRadius = 10; duration = 110; initialDepth = 2074.825057; finalDepth = 2075.865803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3378419999999 # Actual altitude: 82.3378419999999 # Commanded vehicle depth:2075.865803 # Seafloor depth:-2156.836646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.35; 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 = 329.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2154.825057 meters looking forward 200.000000 meters along route # Maximum depth: 2156.799188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.825057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984453; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2072.024113; finalDepth = 2074.825057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9741309999999 # Actual altitude: 81.9741309999999 # Commanded vehicle depth:2074.825057 # Seafloor depth:-2156.799188 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.90; 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 = 327.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2152.024113 meters looking forward 200.000000 meters along route # Maximum depth: 2156.545085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.024113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983611; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2071.286154; finalDepth = 2072.024113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9741309999999 # Actual altitude: 81.9741309999999 # Commanded vehicle depth:2072.024113 # Seafloor depth:-2153.764899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.90; 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 = 327.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2151.286154 meters looking forward 200.000000 meters along route # Maximum depth: 2153.081907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.286154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982769; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2071.286154; finalDepth = 2071.286154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7407859999998 # Actual altitude: 81.7407859999998 # Commanded vehicle depth:2071.286154 # Seafloor depth:-2151.413130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.96; 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 = 326.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2151.286154 meters looking forward 200.000000 meters along route # Maximum depth: 2153.081907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.286154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981927; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2071.254400; finalDepth = 2071.286154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6179790000001 # Actual altitude: 81.6179790000001 # Commanded vehicle depth:2071.286154 # Seafloor depth:-2152.904133 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.47; 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 = 326.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2151.254400 meters looking forward 200.000000 meters along route # Maximum depth: 2152.502420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.254400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981085; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2070.879849; finalDepth = 2071.254400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6179790000001 # Actual altitude: 81.6179790000001 # Commanded vehicle depth:2071.2544 # Seafloor depth:-2151.254400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.47; 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 = 326.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2150.879849 meters looking forward 200.000000 meters along route # Maximum depth: 2151.883013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.879849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980243; longitude = -129.079177; captureRadius = 10; duration = 110; initialDepth = 2068.392367; finalDepth = 2070.879849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80 # Actual altitude: 80 # Commanded vehicle depth:2070.879849 # Seafloor depth:-2150.879849 # 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 110.684735 meters # Minimum depth: 2148.392367 meters looking forward 200.000000 meters along route # Maximum depth: 2151.865982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.392367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979400; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2063.314289; finalDepth = 2068.392367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2061910000002 # Actual altitude: 82.2061910000002 # Commanded vehicle depth:2068.392367 # Seafloor depth:-2150.598558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.82; 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 = 328.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2143.314289 meters looking forward 200.000000 meters along route # Maximum depth: 2149.792961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.314289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978558; longitude = -129.080248; captureRadius = 10; duration = 110; initialDepth = 2058.485133; finalDepth = 2063.314289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5980870000003 # Actual altitude: 83.5980870000003 # Commanded vehicle depth:2063.314289 # Seafloor depth:-2146.912376 # 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 110.684735 meters # Minimum depth: 2138.485133 meters looking forward 200.000000 meters along route # Maximum depth: 2145.235311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.485133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977716; longitude = -129.080784; captureRadius = 10; duration = 110; initialDepth = 2058.485133; finalDepth = 2058.485133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5980870000003 # Actual altitude: 83.5980870000003 # Commanded vehicle depth:2058.485133 # Seafloor depth:-2141.498998 # 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 110.684735 meters # Minimum depth: 2138.485133 meters looking forward 200.000000 meters along route # Maximum depth: 2141.974298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.485133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976874; longitude = -129.081319; captureRadius = 10; duration = 110; initialDepth = 2058.979082; finalDepth = 2058.485133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0138649999999 # Actual altitude: 83.0138649999999 # Commanded vehicle depth:2058.485133 # Seafloor depth:-2138.620161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.06; 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 = 332.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2138.979082 meters looking forward 200.000000 meters along route # Maximum depth: 2149.132082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.979082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976032; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2066.088137; finalDepth = 2058.979082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.032655 # Actual altitude: 85.032655 # Commanded vehicle depth:2058.979082 # Seafloor depth:-2144.011737 # 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 110.684735 meters # Minimum depth: 2146.088137 meters looking forward 200.000000 meters along route # Maximum depth: 2154.720119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.088137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975190; longitude = -129.082390; captureRadius = 10; duration = 110; initialDepth = 2070.999426; finalDepth = 2066.088137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.032655 # Actual altitude: 85.032655 # Commanded vehicle depth:2066.088137 # Seafloor depth:-2150.055381 # 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 110.684735 meters # Minimum depth: 2150.999426 meters looking forward 200.000000 meters along route # Maximum depth: 2159.283664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.999426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974348; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2077.908810; finalDepth = 2070.999426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.627285 # Actual altitude: 85.627285 # Commanded vehicle depth:2070.999426 # Seafloor depth:-2156.626711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.51; 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 = 342.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2157.908810 meters looking forward 200.000000 meters along route # Maximum depth: 2161.752979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.908810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973506; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2079.965476; finalDepth = 2077.908810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.627285 # Actual altitude: 85.627285 # Commanded vehicle depth:2077.90881 # Seafloor depth:-2159.620644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.51; 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 = 342.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2159.965476 meters looking forward 200.000000 meters along route # Maximum depth: 2165.994175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.965476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972663; longitude = -129.083996; captureRadius = 10; duration = 110; initialDepth = 2083.230202; finalDepth = 2079.965476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5879170000003 # Actual altitude: 82.5879170000003 # Commanded vehicle depth:2079.965476 # Seafloor depth:-2162.553393 # 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 110.684735 meters # Minimum depth: 2163.230202 meters looking forward 200.000000 meters along route # Maximum depth: 2173.107460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.230202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971821; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2089.532886; finalDepth = 2083.230202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6241479999999 # Actual altitude: 84.6241479999999 # Commanded vehicle depth:2083.230202 # Seafloor depth:-2167.854350 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.50; 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 = 338.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2169.532886 meters looking forward 200.000000 meters along route # Maximum depth: 2178.012638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.532886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970979; longitude = -129.085066; captureRadius = 10; duration = 110; initialDepth = 2095.758117; finalDepth = 2089.532886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1685280000002 # Actual altitude: 85.1685280000002 # Commanded vehicle depth:2089.532886 # Seafloor depth:-2174.701414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.67; 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 = 340.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 110.684735 meters # Minimum depth: 2175.758117 meters looking forward 200.000000 meters along route # Maximum depth: 2180.896826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.758117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970137; longitude = -129.085602; captureRadius = 10; duration = 110; initialDepth = 2091.834138; finalDepth = 2095.758117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1685280000002 # Actual altitude: 85.1685280000002 # Commanded vehicle depth:2095.758117 # Seafloor depth:-2179.491468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.67; 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 = 340.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 110.684735 meters # Minimum depth: 2171.834138 meters looking forward 200.000000 meters along route # Maximum depth: 2180.896826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.834138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969224; longitude = -129.086182; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.332224; finalDepth = 2091.834138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 86.3909599999997 # Actual altitude: 86.3909599999997 # Commanded vehicle depth:2091.834138 # Seafloor depth:-2178.225098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.56; 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 = 345.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 110.684735 meters # Minimum depth: 2171.332224 meters looking forward 200.000000 meters along route # Maximum depth: 2178.891081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.332224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969494; longitude = -129.087386; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2090.024777; finalDepth = 2091.332224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3909599999997 # Actual altitude: 86.3909599999997 # Commanded vehicle depth:2091.332224 # Seafloor depth:-2172.002502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.56; 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 = 345.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2170.024777 meters looking forward 200.000000 meters along route # Maximum depth: 2172.002502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.024777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970198; longitude = -129.086940; captureRadius = 10; duration = 110; initialDepth = 2088.550822; finalDepth = 2090.024777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2087630000001 # Actual altitude: 81.2087630000001 # Commanded vehicle depth:2090.024777 # Seafloor depth:-2171.233540 # 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 110.684735 meters # Minimum depth: 2168.550822 meters looking forward 200.000000 meters along route # Maximum depth: 2170.948816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.550822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971042; longitude = -129.086405; captureRadius = 10; duration = 110; initialDepth = 2086.944446; finalDepth = 2088.550822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2087630000001 # Actual altitude: 81.2087630000001 # Commanded vehicle depth:2088.550822 # Seafloor depth:-2169.565382 # 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 110.684735 meters # Minimum depth: 2166.944446 meters looking forward 200.000000 meters along route # Maximum depth: 2169.319242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.944446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971887; longitude = -129.085869; captureRadius = 10; duration = 110; initialDepth = 2086.536742; finalDepth = 2086.944446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3023880000001 # Actual altitude: 81.3023880000001 # Commanded vehicle depth:2086.944446 # Seafloor depth:-2168.246834 # 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 110.684735 meters # Minimum depth: 2166.536742 meters looking forward 200.000000 meters along route # Maximum depth: 2168.056258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.536742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972732; longitude = -129.085334; captureRadius = 10; duration = 110; initialDepth = 2084.128089; finalDepth = 2086.536742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3023880000001 # Actual altitude: 81.3023880000001 # Commanded vehicle depth:2086.536742 # Seafloor depth:-2166.536742 # 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 110.684735 meters # Minimum depth: 2164.128089 meters looking forward 200.000000 meters along route # Maximum depth: 2166.801793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.128089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973576; longitude = -129.084799; captureRadius = 10; duration = 110; initialDepth = 2083.279028; finalDepth = 2084.128089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9939050000003 # Actual altitude: 81.9939050000003 # Commanded vehicle depth:2084.128089 # Seafloor depth:-2166.121994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.98; 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 = 327.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2163.279028 meters looking forward 200.000000 meters along route # Maximum depth: 2165.206296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.279028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974421; longitude = -129.084263; captureRadius = 10; duration = 110; initialDepth = 2080.298933; finalDepth = 2083.279028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9939050000003 # Actual altitude: 81.9939050000003 # Commanded vehicle depth:2083.279028 # Seafloor depth:-2164.069399 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.98; 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 = 327.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2160.298933 meters looking forward 200.000000 meters along route # Maximum depth: 2164.303469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.298933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975265; longitude = -129.083728; captureRadius = 10; duration = 110; initialDepth = 2074.254411; finalDepth = 2080.298933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4853419999999 # Actual altitude: 81.4853419999999 # Commanded vehicle depth:2080.298933 # Seafloor depth:-2161.784275 # 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 110.684735 meters # Minimum depth: 2154.254411 meters looking forward 200.000000 meters along route # Maximum depth: 2161.038165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.254411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976110; longitude = -129.083193; captureRadius = 10; duration = 110; initialDepth = 2067.974524; finalDepth = 2074.254411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7839990000002 # Actual altitude: 84.7839990000002 # Commanded vehicle depth:2074.254411 # Seafloor depth:-2159.038410 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.14; 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 = 339.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2147.974524 meters looking forward 200.000000 meters along route # Maximum depth: 2158.004306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.974524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976955; longitude = -129.082657; captureRadius = 10; duration = 110; initialDepth = 2065.891614; finalDepth = 2067.974524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7839990000002 # Actual altitude: 84.7839990000002 # Commanded vehicle depth:2067.974524 # Seafloor depth:-2151.788325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.14; 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 = 339.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2145.891614 meters looking forward 200.000000 meters along route # Maximum depth: 2150.278920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.891614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977799; longitude = -129.082122; captureRadius = 10; duration = 110; initialDepth = 2065.284756; finalDepth = 2065.891614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8138009999998 # Actual altitude: 83.8138009999998 # Commanded vehicle depth:2065.891614 # Seafloor depth:-2146.517417 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.26; 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 = 335.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2145.284756 meters looking forward 200.000000 meters along route # Maximum depth: 2146.338649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.284756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978644; longitude = -129.081587; captureRadius = 10; duration = 110; initialDepth = 2065.024099; finalDepth = 2065.284756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6258029999999 # Actual altitude: 80.6258029999999 # Commanded vehicle depth:2065.284756 # Seafloor depth:-2145.432145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.50; 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 = 322.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2145.024099 meters looking forward 200.000000 meters along route # Maximum depth: 2146.338649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.024099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979488; longitude = -129.081051; captureRadius = 10; duration = 110; initialDepth = 2063.517546; finalDepth = 2065.024099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.580418 # Actual altitude: 80.580418 # Commanded vehicle depth:2065.024099 # Seafloor depth:-2145.604517 # 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 46 # Segment length 110.684735 meters # Minimum depth: 2143.517546 meters looking forward 200.000000 meters along route # Maximum depth: 2145.876472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.517546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980333; longitude = -129.080516; captureRadius = 10; duration = 110; initialDepth = 2059.796892; finalDepth = 2063.517546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3589259999999 # Actual altitude: 82.3589259999999 # Commanded vehicle depth:2063.517546 # Seafloor depth:-2145.876472 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.44; 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 = 329.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2139.796892 meters looking forward 200.000000 meters along route # Maximum depth: 2145.120665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.796892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981178; longitude = -129.079980; captureRadius = 10; duration = 110; initialDepth = 2058.328189; finalDepth = 2059.796892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.155557 # Actual altitude: 83.155557 # Commanded vehicle depth:2059.796892 # Seafloor depth:-2142.952449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.62; 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 = 332.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2138.328189 meters looking forward 200.000000 meters along route # Maximum depth: 2141.489474 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.328189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982022; longitude = -129.079445; captureRadius = 10; duration = 110; initialDepth = 2055.744819; finalDepth = 2058.328189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.155557 # Actual altitude: 83.155557 # Commanded vehicle depth:2058.328189 # Seafloor depth:-2139.845665 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.62; 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 = 332.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2135.744819 meters looking forward 200.000000 meters along route # Maximum depth: 2139.487138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.744819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982867; longitude = -129.078910; captureRadius = 10; duration = 110; initialDepth = 2055.744819; finalDepth = 2055.744819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7663969999999 # Actual altitude: 81.7663969999999 # Commanded vehicle depth:2055.744819 # Seafloor depth:-2137.511216 # 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 110.684735 meters # Minimum depth: 2135.744819 meters looking forward 200.000000 meters along route # Maximum depth: 2141.482154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.744819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983711; longitude = -129.078374; captureRadius = 10; duration = 110; initialDepth = 2057.662511; finalDepth = 2055.744819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7663969999999 # Actual altitude: 81.7663969999999 # Commanded vehicle depth:2055.744819 # Seafloor depth:-2136.550280 # 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 110.684735 meters # Minimum depth: 2137.662511 meters looking forward 200.000000 meters along route # Maximum depth: 2150.389824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.662511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984556; longitude = -129.077839; captureRadius = 10; duration = 110; initialDepth = 2067.636576; finalDepth = 2057.662511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8410439999998 # Actual altitude: 86.8410439999998 # Commanded vehicle depth:2057.662511 # Seafloor depth:-2144.503555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.36; 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 = 347.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2147.636576 meters looking forward 200.000000 meters along route # Maximum depth: 2154.467591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.636576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985401; longitude = -129.077304; captureRadius = 10; duration = 110; initialDepth = 2072.065280; finalDepth = 2067.636576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8410439999998 # Actual altitude: 86.8410439999998 # Commanded vehicle depth:2067.636576 # Seafloor depth:-2151.036035 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.36; 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 = 347.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2152.065280 meters looking forward 200.000000 meters along route # Maximum depth: 2156.052188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.065280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986245; longitude = -129.076768; captureRadius = 10; duration = 110; initialDepth = 2072.184945; finalDepth = 2072.065280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4517440000004 # Actual altitude: 83.4517440000004 # Commanded vehicle depth:2072.06528 # Seafloor depth:-2155.517024 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.81; 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 = 333.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2152.184945 meters looking forward 200.000000 meters along route # Maximum depth: 2156.052188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.184945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987090; longitude = -129.076233; captureRadius = 10; duration = 110; initialDepth = 2066.991072; finalDepth = 2072.184945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4517440000004 # Actual altitude: 83.4517440000004 # Commanded vehicle depth:2072.184945 # Seafloor depth:-2154.293284 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.81; 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 = 333.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2146.991072 meters looking forward 200.000000 meters along route # Maximum depth: 2153.788008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.991072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987934; longitude = -129.075698; captureRadius = 10; duration = 110; initialDepth = 2063.444878; finalDepth = 2066.991072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0588690000004 # Actual altitude: 84.0588690000004 # Commanded vehicle depth:2066.991072 # Seafloor depth:-2151.049941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.24; 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 = 336.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2143.444878 meters looking forward 200.000000 meters along route # Maximum depth: 2149.630279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.444878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988779; longitude = -129.075162; captureRadius = 10; duration = 110; initialDepth = 2057.660382; finalDepth = 2063.444878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0588690000004 # Actual altitude: 84.0588690000004 # Commanded vehicle depth:2063.444878 # Seafloor depth:-2146.243965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.24; 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 = 336.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2137.660382 meters looking forward 200.000000 meters along route # Maximum depth: 2145.845905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.660382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989624; longitude = -129.074627; captureRadius = 10; duration = 110; initialDepth = 2049.921763; finalDepth = 2057.660382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.486633 # Actual altitude: 84.486633 # Commanded vehicle depth:2057.660382 # Seafloor depth:-2142.147015 # 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 46 # Segment length 110.684735 meters # Minimum depth: 2129.921763 meters looking forward 200.000000 meters along route # Maximum depth: 2141.043414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.921763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990468; longitude = -129.074092; captureRadius = 10; duration = 110; initialDepth = 2047.330238; finalDepth = 2049.921763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7081910000002 # Actual altitude: 85.7081910000002 # Commanded vehicle depth:2049.921763 # Seafloor depth:-2135.629954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.83; 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 = 342.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2127.330238 meters looking forward 200.000000 meters along route # Maximum depth: 2133.656560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.330238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991313; longitude = -129.073556; captureRadius = 10; duration = 110; initialDepth = 2047.330238; finalDepth = 2047.330238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7081910000002 # Actual altitude: 85.7081910000002 # Commanded vehicle depth:2047.330238 # Seafloor depth:-2128.684892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.83; 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 = 342.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2127.330238 meters looking forward 200.000000 meters along route # Maximum depth: 2131.401094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.330238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992158; longitude = -129.073021; captureRadius = 10; duration = 110; initialDepth = 2048.808605; finalDepth = 2047.330238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3546540000002 # Actual altitude: 81.3546540000002 # Commanded vehicle depth:2047.330238 # Seafloor depth:-2127.678550 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.42; 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 = 325.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2128.808605 meters looking forward 200.000000 meters along route # Maximum depth: 2140.234031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.808605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993002; longitude = -129.072486; captureRadius = 10; duration = 110; initialDepth = 2055.172411; finalDepth = 2048.808605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.610036 # Actual altitude: 84.610036 # Commanded vehicle depth:2048.808605 # Seafloor depth:-2133.418641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.44; 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 = 338.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 110.684735 meters # Minimum depth: 2135.172411 meters looking forward 200.000000 meters along route # Maximum depth: 2156.041168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.172411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993847; longitude = -129.071950; captureRadius = 10; duration = 110; initialDepth = 2067.873362; finalDepth = 2055.172411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.792226 # Actual altitude: 88.792226 # Commanded vehicle depth:2055.172411 # Seafloor depth:-2143.964637 # 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 110.684735 meters # Minimum depth: 2147.873362 meters looking forward 200.000000 meters along route # Maximum depth: 2164.979417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.873362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994691; longitude = -129.071415; captureRadius = 10; duration = 110; initialDepth = 2081.304967; finalDepth = 2067.873362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.1368080000002 # Actual altitude: 91.1368080000002 # Commanded vehicle depth:2067.873362 # Seafloor depth:-2159.010170 # 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 110.684735 meters # Minimum depth: 2161.304967 meters looking forward 200.000000 meters along route # Maximum depth: 2171.056563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.304967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995536; longitude = -129.070880; captureRadius = 10; duration = 110; initialDepth = 2088.361074; finalDepth = 2081.304967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.1368080000002 # Actual altitude: 91.1368080000002 # Commanded vehicle depth:2081.304967 # Seafloor depth:-2166.666903 # 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 110.684735 meters # Minimum depth: 2168.361074 meters looking forward 200.000000 meters along route # Maximum depth: 2174.201120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.361074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996381; longitude = -129.070344; captureRadius = 10; duration = 110; initialDepth = 2092.110035; finalDepth = 2088.361074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3619359999998 # Actual altitude: 85.3619359999998 # Commanded vehicle depth:2088.361074 # Seafloor depth:-2171.479054 # 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 110.684735 meters # Minimum depth: 2172.110035 meters looking forward 200.000000 meters along route # Maximum depth: 2180.004683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.110035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997225; longitude = -129.069809; captureRadius = 10; duration = 110; initialDepth = 2096.264080; finalDepth = 2092.110035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.11798 # Actual altitude: 83.11798 # Commanded vehicle depth:2092.110035 # Seafloor depth:-2175.043997 # 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 46 # Segment length 110.684735 meters # Minimum depth: 2176.264080 meters looking forward 200.000000 meters along route # Maximum depth: 2184.162286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.264080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998070; longitude = -129.069274; captureRadius = 10; duration = 110; initialDepth = 2102.055441; finalDepth = 2096.264080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8880600000002 # Actual altitude: 84.8880600000002 # Commanded vehicle depth:2096.26408 # Seafloor depth:-2181.152140 # 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 110.684735 meters # Minimum depth: 2182.055441 meters looking forward 200.000000 meters along route # Maximum depth: 2185.919970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.055441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998914; longitude = -129.068738; captureRadius = 10; duration = 110; initialDepth = 2103.822495; finalDepth = 2102.055441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8880600000002 # Actual altitude: 84.8880600000002 # Commanded vehicle depth:2102.055441 # Seafloor depth:-2185.232037 # 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 110.684735 meters # Minimum depth: 2183.822495 meters looking forward 200.000000 meters along route # Maximum depth: 2188.589856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.822495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999759; longitude = -129.068203; captureRadius = 10; duration = 110; initialDepth = 2103.822495; finalDepth = 2103.822495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1765960000002 # Actual altitude: 83.1765960000002 # Commanded vehicle depth:2103.822495 # Seafloor depth:-2184.466099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.71; 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 = 332.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 110.684735 meters # Minimum depth: 2183.822495 meters looking forward 200.000000 meters along route # Maximum depth: 2189.512634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.822495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000674; longitude = -129.067623; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2103.822495; finalDepth = 2103.822495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6901390000003 # Actual altitude: 85.6901390000003 # Commanded vehicle depth:2103.822495 # Seafloor depth:-2189.512634 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.76; 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 = 342.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 110.684735 meters # Minimum depth: 2183.822495 meters looking forward 200.000000 meters along route # Maximum depth: 2197.002183 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.822495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000683; longitude = -129.067668; captureRadius = 10; duration = 110; initialDepth = 2104.483953; finalDepth = 2103.822495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 85.8596230000003 # Actual altitude: 85.8596230000003 # Commanded vehicle depth:2103.822495 # Seafloor depth:-2189.682118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.44; 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 = 343.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 110.684735 meters # Minimum depth: 2184.483953 meters looking forward 200.000000 meters along route # Maximum depth: 2197.159241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.483953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000943; longitude = -129.068961; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2114.056515; finalDepth = 2104.483953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.6752879999999 # Actual altitude: 92.6752879999999 # Commanded vehicle depth:2104.483953 # Seafloor depth:-2197.159241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.54; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2194.056515 meters looking forward 200.000000 meters along route # Maximum depth: 2197.159241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.056515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000657; longitude = -129.069140; captureRadius = 10; duration = 110; initialDepth = 2111.516305; finalDepth = 2114.056515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.6752879999999 # Actual altitude: 92.6752879999999 # Commanded vehicle depth:2114.056515 # Seafloor depth:-2195.269659 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.54; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2191.516305 meters looking forward 200.000000 meters along route # Maximum depth: 2195.883607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2111.516305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999802; longitude = -129.069675; captureRadius = 10; duration = 110; initialDepth = 2103.930378; finalDepth = 2111.516305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3673020000001 # Actual altitude: 84.3673020000001 # Commanded vehicle depth:2111.516305 # Seafloor depth:-2195.883607 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.47; 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 = 337.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2183.930378 meters looking forward 200.000000 meters along route # Maximum depth: 2195.475015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.930378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998947; longitude = -129.070210; captureRadius = 10; duration = 110; initialDepth = 2093.604580; finalDepth = 2103.930378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5002800000002 # Actual altitude: 85.5002800000002 # Commanded vehicle depth:2103.930378 # Seafloor depth:-2189.430658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.00; 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 = 342.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2173.604580 meters looking forward 200.000000 meters along route # Maximum depth: 2187.670595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.604580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998092; longitude = -129.070746; captureRadius = 10; duration = 110; initialDepth = 2088.564836; finalDepth = 2093.604580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2936639999998 # Actual altitude: 87.2936639999998 # Commanded vehicle depth:2093.60458 # Seafloor depth:-2180.898244 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.17; 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 = 349.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2168.564836 meters looking forward 200.000000 meters along route # Maximum depth: 2177.648610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.564836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997237; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2082.357569; finalDepth = 2088.564836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2936639999998 # Actual altitude: 87.2936639999998 # Commanded vehicle depth:2088.564836 # Seafloor depth:-2171.868871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.17; 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 = 349.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2162.357569 meters looking forward 200.000000 meters along route # Maximum depth: 2170.481505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.357569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996382; longitude = -129.071817; captureRadius = 10; duration = 110; initialDepth = 2072.650946; finalDepth = 2082.357569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0784200000003 # Actual altitude: 85.0784200000003 # Commanded vehicle depth:2082.357569 # Seafloor depth:-2167.435989 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.31; 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 = 340.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2152.650946 meters looking forward 200.000000 meters along route # Maximum depth: 2166.033232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.650946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995527; longitude = -129.072352; captureRadius = 10; duration = 110; initialDepth = 2053.093105; finalDepth = 2072.650946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2771739999998 # Actual altitude: 87.2771739999998 # Commanded vehicle depth:2072.650946 # Seafloor depth:-2159.928120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.11; 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 = 349.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2133.093105 meters looking forward 200.000000 meters along route # Maximum depth: 2158.018665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.093105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994672; longitude = -129.072887; captureRadius = 10; duration = 110; initialDepth = 2044.454565; finalDepth = 2053.093105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.72793 # Actual altitude: 94.72793 # Commanded vehicle depth:2053.093105 # Seafloor depth:-2147.821035 # 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 110.684735 meters # Minimum depth: 2124.454565 meters looking forward 200.000000 meters along route # Maximum depth: 2142.768579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.454565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993817; longitude = -129.073423; captureRadius = 10; duration = 110; initialDepth = 2041.612528; finalDepth = 2044.454565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.72793 # Actual altitude: 94.72793 # Commanded vehicle depth:2044.454565 # Seafloor depth:-2129.743104 # 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 110.684735 meters # Minimum depth: 2121.612528 meters looking forward 200.000000 meters along route # Maximum depth: 2127.730270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.612528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992962; longitude = -129.073958; captureRadius = 10; duration = 110; initialDepth = 2041.612528; finalDepth = 2041.612528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2885390000001 # Actual altitude: 85.2885390000001 # Commanded vehicle depth:2041.612528 # Seafloor depth:-2123.051118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.15; 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 = 341.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2121.612528 meters looking forward 200.000000 meters along route # Maximum depth: 2128.020329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.612528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992107; longitude = -129.074493; captureRadius = 10; duration = 110; initialDepth = 2042.949842; finalDepth = 2041.612528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4385899999997 # Actual altitude: 81.4385899999997 # Commanded vehicle depth:2041.612528 # Seafloor depth:-2122.432255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.75; 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 = 325.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2122.949842 meters looking forward 200.000000 meters along route # Maximum depth: 2133.509810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.949842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991252; longitude = -129.075029; captureRadius = 10; duration = 110; initialDepth = 2051.556263; finalDepth = 2042.949842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3275819999999 # Actual altitude: 87.3275819999999 # Commanded vehicle depth:2042.949842 # Seafloor depth:-2130.277424 # 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 44 # Segment length 110.684735 meters # Minimum depth: 2131.556263 meters looking forward 200.000000 meters along route # Maximum depth: 2145.650138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.556263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990397; longitude = -129.075564; captureRadius = 10; duration = 110; initialDepth = 2058.791515; finalDepth = 2051.556263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3275819999999 # Actual altitude: 87.3275819999999 # Commanded vehicle depth:2051.556263 # Seafloor depth:-2135.443703 # 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 44 # Segment length 110.684735 meters # Minimum depth: 2138.791515 meters looking forward 200.000000 meters along route # Maximum depth: 2149.897109 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.791515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989542; longitude = -129.076099; captureRadius = 10; duration = 110; initialDepth = 2068.846670; finalDepth = 2058.791515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9682000000003 # Actual altitude: 88.9682000000003 # Commanded vehicle depth:2058.791515 # Seafloor depth:-2147.759715 # 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 = 17.79; 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 110.684735 meters # Minimum depth: 2148.846670 meters looking forward 200.000000 meters along route # Maximum depth: 2152.927858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.846670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988687; longitude = -129.076635; captureRadius = 10; duration = 110; initialDepth = 2071.926034; finalDepth = 2068.846670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9682000000003 # Actual altitude: 88.9682000000003 # Commanded vehicle depth:2068.84667 # Seafloor depth:-2150.743768 # 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 = 17.79; 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 110.684735 meters # Minimum depth: 2151.926034 meters looking forward 200.000000 meters along route # Maximum depth: 2155.116021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.926034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987832; longitude = -129.077170; captureRadius = 10; duration = 110; initialDepth = 2071.148919; finalDepth = 2071.926034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8970979999999 # Actual altitude: 81.8970979999999 # Commanded vehicle depth:2071.926034 # Seafloor depth:-2153.037522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.59; 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 = 327.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2151.148919 meters looking forward 200.000000 meters along route # Maximum depth: 2155.665141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.148919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986977; longitude = -129.077705; captureRadius = 10; duration = 110; initialDepth = 2067.999972; finalDepth = 2071.148919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5162219999997 # Actual altitude: 84.5162219999997 # Commanded vehicle depth:2071.148919 # Seafloor depth:-2155.665141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.06; 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 = 338.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2147.999972 meters looking forward 200.000000 meters along route # Maximum depth: 2154.850537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2067.999972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986122; longitude = -129.078241; captureRadius = 10; duration = 110; initialDepth = 2062.858890; finalDepth = 2067.999972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5162219999997 # Actual altitude: 84.5162219999997 # Commanded vehicle depth:2067.999972 # Seafloor depth:-2149.462426 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.06; 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 = 338.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2142.858890 meters looking forward 200.000000 meters along route # Maximum depth: 2148.529024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.858890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985267; longitude = -129.078776; captureRadius = 10; duration = 110; initialDepth = 2062.240976; finalDepth = 2062.858890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.307546 # Actual altitude: 84.307546 # Commanded vehicle depth:2062.85889 # Seafloor depth:-2147.166436 # 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 110.684735 meters # Minimum depth: 2142.240976 meters looking forward 200.000000 meters along route # Maximum depth: 2145.626507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.240976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984412; longitude = -129.079311; captureRadius = 10; duration = 110; initialDepth = 2062.018614; finalDepth = 2062.240976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.307546 # Actual altitude: 84.307546 # Commanded vehicle depth:2062.240976 # Seafloor depth:-2142.493763 # 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 110.684735 meters # Minimum depth: 2142.018614 meters looking forward 200.000000 meters along route # Maximum depth: 2144.654869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.018614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983557; longitude = -129.079847; captureRadius = 10; duration = 110; initialDepth = 2063.065829; finalDepth = 2062.018614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2527869999999 # Actual altitude: 80.2527869999999 # Commanded vehicle depth:2062.018614 # Seafloor depth:-2142.018614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.01; 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 = 321.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2143.065829 meters looking forward 200.000000 meters along route # Maximum depth: 2145.066388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.065829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982702; longitude = -129.080382; captureRadius = 10; duration = 110; initialDepth = 2064.298445; finalDepth = 2063.065829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0005590000001 # Actual altitude: 82.0005590000001 # Commanded vehicle depth:2063.065829 # Seafloor depth:-2145.066388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.00; 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 = 328.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2144.298445 meters looking forward 200.000000 meters along route # Maximum depth: 2146.594928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.298445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981847; longitude = -129.080917; captureRadius = 10; duration = 110; initialDepth = 2065.727624; finalDepth = 2064.298445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0005590000001 # Actual altitude: 82.0005590000001 # Commanded vehicle depth:2064.298445 # Seafloor depth:-2145.092222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.00; 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 = 328.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2145.727624 meters looking forward 200.000000 meters along route # Maximum depth: 2146.594928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.727624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980991; longitude = -129.081453; captureRadius = 10; duration = 110; initialDepth = 2065.727624; finalDepth = 2065.727624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7986459999997 # Actual altitude: 80.7986459999997 # Commanded vehicle depth:2065.727624 # Seafloor depth:-2146.526270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2145.727624 meters looking forward 200.000000 meters along route # Maximum depth: 2148.983523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.727624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980136; longitude = -129.081988; captureRadius = 10; duration = 110; initialDepth = 2066.750927; finalDepth = 2065.727624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7986459999997 # Actual altitude: 80.7986459999997 # Commanded vehicle depth:2065.727624 # Seafloor depth:-2146.083859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2146.750927 meters looking forward 200.000000 meters along route # Maximum depth: 2153.979484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.750927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979281; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2072.456622; finalDepth = 2066.750927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.005725 # Actual altitude: 84.005725 # Commanded vehicle depth:2066.750927 # Seafloor depth:-2150.756652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.02; 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 = 336.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2152.456622 meters looking forward 200.000000 meters along route # Maximum depth: 2156.976263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.456622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978426; longitude = -129.083059; captureRadius = 10; duration = 110; initialDepth = 2074.891853; finalDepth = 2072.456622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.005725 # Actual altitude: 84.005725 # Commanded vehicle depth:2072.456622 # Seafloor depth:-2154.235552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.02; 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 = 336.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2154.891853 meters looking forward 200.000000 meters along route # Maximum depth: 2159.763092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.891853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977571; longitude = -129.083594; captureRadius = 10; duration = 110; initialDepth = 2077.922245; finalDepth = 2074.891853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5976740000001 # Actual altitude: 82.5976740000001 # Commanded vehicle depth:2074.891853 # Seafloor depth:-2157.489527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.39; 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 = 330.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2157.922245 meters looking forward 200.000000 meters along route # Maximum depth: 2160.256730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.922245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976716; longitude = -129.084129; captureRadius = 10; duration = 110; initialDepth = 2079.854364; finalDepth = 2077.922245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5976740000001 # Actual altitude: 82.5976740000001 # Commanded vehicle depth:2077.922245 # Seafloor depth:-2159.819250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.39; 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 = 330.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2159.854364 meters looking forward 200.000000 meters along route # Maximum depth: 2162.145517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.854364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975861; longitude = -129.084665; captureRadius = 10; duration = 110; initialDepth = 2080.944770; finalDepth = 2079.854364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8970049999998 # Actual altitude: 81.8970049999998 # Commanded vehicle depth:2079.854364 # Seafloor depth:-2160.210471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.59; 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 = 327.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2160.944770 meters looking forward 200.000000 meters along route # Maximum depth: 2162.145517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.944770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975006; longitude = -129.085200; captureRadius = 10; duration = 110; initialDepth = 2081.690259; finalDepth = 2080.944770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.018873 # Actual altitude: 81.018873 # Commanded vehicle depth:2080.94477 # Seafloor depth:-2161.963643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.08; 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 = 324.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2161.690259 meters looking forward 200.000000 meters along route # Maximum depth: 2163.016850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.690259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974151; longitude = -129.085735; captureRadius = 10; duration = 110; initialDepth = 2082.414001; finalDepth = 2081.690259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.018873 # Actual altitude: 81.018873 # Commanded vehicle depth:2081.690259 # Seafloor depth:-2162.189925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.08; 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 = 324.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 110.684735 meters # Minimum depth: 2162.414001 meters looking forward 200.000000 meters along route # Maximum depth: 2163.016850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.414001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973296; longitude = -129.086271; captureRadius = 10; duration = 110; initialDepth = 2082.414001; finalDepth = 2082.414001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4996660000002 # Actual altitude: 80.4996660000002 # Commanded vehicle depth:2082.414001 # Seafloor depth:-2162.539705 # 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 110.684735 meters # Minimum depth: 2162.414001 meters looking forward 200.000000 meters along route # Maximum depth: 2164.206682 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.414001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972441; longitude = -129.086806; captureRadius = 10; duration = 110; initialDepth = 2083.645801; finalDepth = 2082.414001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.813165 # Actual altitude: 80.813165 # Commanded vehicle depth:2082.414001 # Seafloor depth:-2163.227166 # 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 110.684735 meters # Minimum depth: 2163.645801 meters looking forward 200.000000 meters along route # Maximum depth: 2165.904542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.645801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971586; longitude = -129.087341; captureRadius = 10; duration = 110; initialDepth = 2084.778251; finalDepth = 2083.645801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.813165 # Actual altitude: 80.813165 # Commanded vehicle depth:2083.645801 # Seafloor depth:-2164.315824 # 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 110.684735 meters # Minimum depth: 2164.778251 meters looking forward 200.000000 meters along route # Maximum depth: 2167.331061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.778251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970731; longitude = -129.087877; captureRadius = 10; duration = 110; initialDepth = 2082.749623; finalDepth = 2084.778251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.511833 # Actual altitude: 81.511833 # Commanded vehicle depth:2084.778251 # Seafloor depth:-2166.290084 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.05; 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 = 326.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 110.684735 meters # Minimum depth: 2162.749623 meters looking forward 200.000000 meters along route # Maximum depth: 2168.045044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.749623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969734; longitude = -129.088501; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2080.778474; finalDepth = 2082.749623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 85.2954209999998 # Actual altitude: 85.2954209999998 # Commanded vehicle depth:2082.749623 # Seafloor depth:-2168.045044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.18; 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 = 341.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 110.684735 meters # Minimum depth: 2160.778474 meters looking forward 200.000000 meters along route # Maximum depth: 2168.045044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.778474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970034; longitude = -129.089661; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2079.867175; finalDepth = 2080.778474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2954209999998 # Actual altitude: 85.2954209999998 # Commanded vehicle depth:2080.778474 # Seafloor depth:-2162.506104 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.18; 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 = 341.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2159.867175 meters looking forward 200.000000 meters along route # Maximum depth: 2164.935619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.867175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970531; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2077.012770; finalDepth = 2079.867175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7276299999999 # Actual altitude: 81.7276299999999 # Commanded vehicle depth:2079.867175 # Seafloor depth:-2159.867175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.91; 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 = 326.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2157.012770 meters looking forward 200.000000 meters along route # Maximum depth: 2160.748495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.012770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971384; longitude = -129.088814; captureRadius = 10; duration = 110; initialDepth = 2073.967782; finalDepth = 2077.012770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.590326 # Actual altitude: 83.590326 # Commanded vehicle depth:2077.01277 # Seafloor depth:-2160.603096 # 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 110.684735 meters # Minimum depth: 2153.967782 meters looking forward 200.000000 meters along route # Maximum depth: 2160.006802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.967782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972237; longitude = -129.088278; captureRadius = 10; duration = 110; initialDepth = 2072.473307; finalDepth = 2073.967782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.590326 # Actual altitude: 83.590326 # Commanded vehicle depth:2073.967782 # Seafloor depth:-2155.997939 # 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 110.684735 meters # Minimum depth: 2152.473307 meters looking forward 200.000000 meters along route # Maximum depth: 2154.922211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.473307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973089; longitude = -129.087743; captureRadius = 10; duration = 110; initialDepth = 2072.473307; finalDepth = 2072.473307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0301569999997 # Actual altitude: 82.0301569999997 # Commanded vehicle depth:2072.473307 # Seafloor depth:-2153.784270 # 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 110.684735 meters # Minimum depth: 2152.473307 meters looking forward 200.000000 meters along route # Maximum depth: 2154.843251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.473307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973942; longitude = -129.087208; captureRadius = 10; duration = 110; initialDepth = 2072.910969; finalDepth = 2072.473307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3109629999999 # Actual altitude: 81.3109629999999 # Commanded vehicle depth:2072.473307 # Seafloor depth:-2153.749247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.24; 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 = 325.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2152.910969 meters looking forward 200.000000 meters along route # Maximum depth: 2154.843251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.910969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974795; longitude = -129.086672; captureRadius = 10; duration = 110; initialDepth = 2071.882110; finalDepth = 2072.910969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.27594 # Actual altitude: 81.27594 # Commanded vehicle depth:2072.910969 # Seafloor depth:-2153.749622 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.10; 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 = 325.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2151.882110 meters looking forward 200.000000 meters along route # Maximum depth: 2153.239488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.882110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975648; longitude = -129.086137; captureRadius = 10; duration = 110; initialDepth = 2071.375312; finalDepth = 2071.882110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3573780000002 # Actual altitude: 81.3573780000002 # Commanded vehicle depth:2071.88211 # Seafloor depth:-2153.239488 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.43; 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 = 325.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2151.375312 meters looking forward 200.000000 meters along route # Maximum depth: 2152.932555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.375312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976501; longitude = -129.085602; captureRadius = 10; duration = 110; initialDepth = 2070.676304; finalDepth = 2071.375312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3573780000002 # Actual altitude: 81.3573780000002 # Commanded vehicle depth:2071.375312 # Seafloor depth:-2152.127678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.43; 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 = 325.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2150.676304 meters looking forward 200.000000 meters along route # Maximum depth: 2151.968061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.676304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977353; longitude = -129.085066; captureRadius = 10; duration = 110; initialDepth = 2070.550986; finalDepth = 2070.676304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7832189999999 # Actual altitude: 80.7832189999999 # Commanded vehicle depth:2070.676304 # Seafloor depth:-2151.459523 # 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 42 # Segment length 110.684735 meters # Minimum depth: 2150.550986 meters looking forward 200.000000 meters along route # Maximum depth: 2151.292402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.550986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978206; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2070.550986; finalDepth = 2070.550986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7832189999999 # Actual altitude: 80.7832189999999 # Commanded vehicle depth:2070.550986 # Seafloor depth:-2150.957550 # 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 42 # Segment length 110.684735 meters # Minimum depth: 2150.550986 meters looking forward 200.000000 meters along route # Maximum depth: 2152.403150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.550986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979059; longitude = -129.083996; captureRadius = 10; duration = 110; initialDepth = 2070.363038; finalDepth = 2070.550986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0512369999997 # Actual altitude: 81.0512369999997 # Commanded vehicle depth:2070.550986 # Seafloor depth:-2151.602223 # 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 42 # Segment length 110.684735 meters # Minimum depth: 2150.363038 meters looking forward 200.000000 meters along route # Maximum depth: 2152.403150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.363038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979912; longitude = -129.083460; captureRadius = 10; duration = 110; initialDepth = 2069.987579; finalDepth = 2070.363038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0512369999997 # Actual altitude: 81.0512369999997 # Commanded vehicle depth:2070.363038 # Seafloor depth:-2150.901887 # 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 42 # Segment length 110.684735 meters # Minimum depth: 2149.987579 meters looking forward 200.000000 meters along route # Maximum depth: 2150.718601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.987579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980765; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2069.462459; finalDepth = 2069.987579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.538849 # Actual altitude: 80.538849 # Commanded vehicle depth:2069.987579 # Seafloor depth:-2150.312335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.16; 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 = 322.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2149.462459 meters looking forward 200.000000 meters along route # Maximum depth: 2150.599078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.462459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981617; longitude = -129.082390; captureRadius = 10; duration = 110; initialDepth = 2068.975461; finalDepth = 2069.462459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.324756 # Actual altitude: 80.324756 # Commanded vehicle depth:2069.462459 # Seafloor depth:-2149.686808 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.30; 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 = 321.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2148.975461 meters looking forward 200.000000 meters along route # Maximum depth: 2153.104632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.975461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982470; longitude = -129.081854; captureRadius = 10; duration = 110; initialDepth = 2069.946083; finalDepth = 2068.975461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2243490000001 # Actual altitude: 80.2243490000001 # Commanded vehicle depth:2068.975461 # Seafloor depth:-2148.975461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 320.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 320.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2149.946083 meters looking forward 200.000000 meters along route # Maximum depth: 2155.777794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.946083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983323; longitude = -129.081319; captureRadius = 10; duration = 110; initialDepth = 2075.139174; finalDepth = 2069.946083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7112970000003 # Actual altitude: 84.7112970000003 # Commanded vehicle depth:2069.946083 # Seafloor depth:-2154.657380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.85; 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 = 338.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2155.139174 meters looking forward 200.000000 meters along route # Maximum depth: 2155.920858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.139174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984176; longitude = -129.080784; captureRadius = 10; duration = 110; initialDepth = 2075.139174; finalDepth = 2075.139174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.7112970000003 # Actual altitude: 84.7112970000003 # Commanded vehicle depth:2075.139174 # Seafloor depth:-2155.724046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.85; 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 = 338.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2155.139174 meters looking forward 200.000000 meters along route # Maximum depth: 2156.123630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.139174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985029; longitude = -129.080248; captureRadius = 10; duration = 110; initialDepth = 2070.966007; finalDepth = 2075.139174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5848719999999 # Actual altitude: 80.5848719999999 # Commanded vehicle depth:2075.139174 # Seafloor depth:-2155.350152 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.34; 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 = 322.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2150.966007 meters looking forward 200.000000 meters along route # Maximum depth: 2156.123630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.966007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985881; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2070.966007; finalDepth = 2070.966007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0380089999999 # Actual altitude: 84.0380089999999 # Commanded vehicle depth:2070.966007 # Seafloor depth:-2155.004016 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.15; 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 = 336.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2150.966007 meters looking forward 200.000000 meters along route # Maximum depth: 2154.163623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.966007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986734; longitude = -129.079177; captureRadius = 10; duration = 110; initialDepth = 2072.678821; finalDepth = 2070.966007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0380089999999 # Actual altitude: 84.0380089999999 # Commanded vehicle depth:2070.966007 # Seafloor depth:-2151.367465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.15; 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 = 336.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2152.678821 meters looking forward 200.000000 meters along route # Maximum depth: 2154.180076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.678821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987587; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2073.733169; finalDepth = 2072.678821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.125442 # Actual altitude: 81.125442 # Commanded vehicle depth:2072.678821 # Seafloor depth:-2153.804263 # 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 = 16.23; 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 42 # Segment length 110.684735 meters # Minimum depth: 2153.733169 meters looking forward 200.000000 meters along route # Maximum depth: 2156.586617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.733169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988440; longitude = -129.078107; captureRadius = 10; duration = 110; initialDepth = 2073.923148; finalDepth = 2073.733169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.125442 # Actual altitude: 81.125442 # Commanded vehicle depth:2073.733169 # Seafloor depth:-2154.709122 # 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 = 16.23; 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 42 # Segment length 110.684735 meters # Minimum depth: 2153.923148 meters looking forward 200.000000 meters along route # Maximum depth: 2157.040197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.923148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989293; longitude = -129.077571; captureRadius = 10; duration = 110; initialDepth = 2062.332537; finalDepth = 2073.923148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.117049 # Actual altitude: 83.117049 # Commanded vehicle depth:2073.923148 # Seafloor depth:-2157.040197 # 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 42 # Segment length 110.684735 meters # Minimum depth: 2142.332537 meters looking forward 200.000000 meters along route # Maximum depth: 2156.911254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.332537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990145; longitude = -129.077036; captureRadius = 10; duration = 110; initialDepth = 2046.610235; finalDepth = 2062.332537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6751880000002 # Actual altitude: 89.6751880000002 # Commanded vehicle depth:2062.332537 # Seafloor depth:-2152.007725 # 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 110.684735 meters # Minimum depth: 2126.610235 meters looking forward 200.000000 meters along route # Maximum depth: 2149.199166 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.610235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990998; longitude = -129.076501; captureRadius = 10; duration = 110; initialDepth = 2038.825106; finalDepth = 2046.610235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9449509999999 # Actual altitude: 91.9449509999999 # Commanded vehicle depth:2046.610235 # Seafloor depth:-2138.555186 # 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 110.684735 meters # Minimum depth: 2118.825106 meters looking forward 200.000000 meters along route # Maximum depth: 2134.553005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.825106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991851; longitude = -129.075965; captureRadius = 10; duration = 110; initialDepth = 2034.811863; finalDepth = 2038.825106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9449509999999 # Actual altitude: 91.9449509999999 # Commanded vehicle depth:2038.825106 # Seafloor depth:-2123.259507 # 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 110.684735 meters # Minimum depth: 2114.811863 meters looking forward 200.000000 meters along route # Maximum depth: 2120.776773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.811863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992704; longitude = -129.075430; captureRadius = 10; duration = 110; initialDepth = 2034.811863; finalDepth = 2034.811863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4344010000004 # Actual altitude: 84.4344010000004 # Commanded vehicle depth:2034.811863 # Seafloor depth:-2117.511557 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.74; 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 = 337.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2114.811863 meters looking forward 200.000000 meters along route # Maximum depth: 2128.101835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.811863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993557; longitude = -129.074895; captureRadius = 10; duration = 110; initialDepth = 2039.969498; finalDepth = 2034.811863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7953520000001 # Actual altitude: 82.7953520000001 # Commanded vehicle depth:2034.811863 # Seafloor depth:-2117.607215 # 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 42 # Segment length 110.684735 meters # Minimum depth: 2119.969498 meters looking forward 200.000000 meters along route # Maximum depth: 2147.239124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.969498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994409; longitude = -129.074359; captureRadius = 10; duration = 110; initialDepth = 2058.120879; finalDepth = 2039.969498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.2910590000001 # Actual altitude: 93.2910590000001 # Commanded vehicle depth:2039.969498 # Seafloor depth:-2133.260557 # 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 110.684735 meters # Minimum depth: 2138.120879 meters looking forward 200.000000 meters along route # Maximum depth: 2163.548082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.120879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995262; longitude = -129.073824; captureRadius = 10; duration = 110; initialDepth = 2077.037616; finalDepth = 2058.120879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.0928749999998 # Actual altitude: 94.0928749999998 # Commanded vehicle depth:2058.120879 # Seafloor depth:-2152.213754 # 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 110.684735 meters # Minimum depth: 2157.037616 meters looking forward 200.000000 meters along route # Maximum depth: 2171.102827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.037616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996115; longitude = -129.073289; captureRadius = 10; duration = 110; initialDepth = 2088.087816; finalDepth = 2077.037616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.0928749999998 # Actual altitude: 94.0928749999998 # Commanded vehicle depth:2077.037616 # Seafloor depth:-2166.150023 # 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 110.684735 meters # Minimum depth: 2168.087816 meters looking forward 200.000000 meters along route # Maximum depth: 2173.224675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.087816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996968; longitude = -129.072753; captureRadius = 10; duration = 110; initialDepth = 2091.968974; finalDepth = 2088.087816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1124070000001 # Actual altitude: 89.1124070000001 # Commanded vehicle depth:2088.087816 # Seafloor depth:-2171.674382 # 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 110.684735 meters # Minimum depth: 2171.968974 meters looking forward 200.000000 meters along route # Maximum depth: 2182.265713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.968974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997821; longitude = -129.072218; captureRadius = 10; duration = 110; initialDepth = 2097.334392; finalDepth = 2091.968974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5865659999999 # Actual altitude: 83.5865659999999 # Commanded vehicle depth:2091.968974 # Seafloor depth:-2175.239914 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.35; 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 = 334.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.684735 meters # Minimum depth: 2177.334392 meters looking forward 200.000000 meters along route # Maximum depth: 2193.494770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.334392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998673; longitude = -129.071683; captureRadius = 10; duration = 110; initialDepth = 2108.859598; finalDepth = 2097.334392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.215839 # Actual altitude: 88.215839 # Commanded vehicle depth:2097.334392 # Seafloor depth:-2185.550231 # 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 110.684735 meters # Minimum depth: 2188.859598 meters looking forward 200.000000 meters along route # Maximum depth: 2199.871139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.859598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999526; longitude = -129.071147; captureRadius = 10; duration = 110; initialDepth = 2113.933777; finalDepth = 2108.859598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.215839 # Actual altitude: 88.215839 # Commanded vehicle depth:2108.859598 # Seafloor depth:-2195.842386 # 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 110.684735 meters # Minimum depth: 2193.933777 meters looking forward 200.000000 meters along route # Maximum depth: 2199.871139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.933777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000379; longitude = -129.070612; captureRadius = 10; duration = 110; initialDepth = 2113.933777; finalDepth = 2113.933777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9827879999998 # Actual altitude: 86.9827879999998 # Commanded vehicle depth:2113.933777 # Seafloor depth:-2197.784744 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 110.684735 meters # Minimum depth: 2193.933777 meters looking forward 200.000000 meters along route # Maximum depth: 2199.871139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.933777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001303; longitude = -129.070032; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2112.900458; finalDepth = 2113.933777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8509669999999 # Actual altitude: 83.8509669999999 # Commanded vehicle depth:2113.933777 # Seafloor depth:-2194.043823 # 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 110.684735 meters # Minimum depth: 2192.900458 meters looking forward 200.000000 meters along route # Maximum depth: 2194.963681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2112.900458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001281; longitude = -129.070077; captureRadius = 10; duration = 110; initialDepth = 2109.201810; finalDepth = 2112.900458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9351189999998 # Actual altitude: 80.9351189999998 # Commanded vehicle depth:2112.900458 # Seafloor depth:-2193.835577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.74; 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 = 323.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 110.684735 meters # Minimum depth: 2189.201810 meters looking forward 200.000000 meters along route # Maximum depth: 2193.648240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.201810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000701; longitude = -129.071281; captureRadius = 10; duration = 110; initialDepth = 2109.072510; finalDepth = 2109.201810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 83.4443120000001 # Actual altitude: 83.4443120000001 # Commanded vehicle depth:2109.20181 # Seafloor depth:-2192.646122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.78; 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 = 333.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 110.684735 meters # Minimum depth: 2189.072510 meters looking forward 200.000000 meters along route # Maximum depth: 2193.588590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.072510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000164; longitude = -129.072396; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2109.046340; finalDepth = 2109.072510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4443120000001 # Actual altitude: 83.4443120000001 # Commanded vehicle depth:2109.07251 # Seafloor depth:-2189.072510 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.78; 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 = 333.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2189.046340 meters looking forward 200.000000 meters along route # Maximum depth: 2190.886530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.046340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999803; longitude = -129.072620; captureRadius = 10; duration = 110; initialDepth = 2103.223399; finalDepth = 2109.046340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.198586 # Actual altitude: 81.198586 # Commanded vehicle depth:2109.04634 # Seafloor depth:-2190.244926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.79; 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 = 324.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2183.223399 meters looking forward 200.000000 meters along route # Maximum depth: 2190.544781 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.223399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998939; longitude = -129.073155; captureRadius = 10; duration = 110; initialDepth = 2102.362389; finalDepth = 2103.223399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0626980000002 # Actual altitude: 84.0626980000002 # Commanded vehicle depth:2103.223399 # Seafloor depth:-2187.286097 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.25; 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 = 336.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2182.362389 meters looking forward 200.000000 meters along route # Maximum depth: 2185.464497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.362389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998075; longitude = -129.073690; captureRadius = 10; duration = 110; initialDepth = 2100.320627; finalDepth = 2102.362389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0626980000002 # Actual altitude: 84.0626980000002 # Commanded vehicle depth:2102.362389 # Seafloor depth:-2182.831313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.25; 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 = 336.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2180.320627 meters looking forward 200.000000 meters along route # Maximum depth: 2182.855386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.320627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997210; longitude = -129.074226; captureRadius = 10; duration = 110; initialDepth = 2079.462426; finalDepth = 2100.320627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5347590000001 # Actual altitude: 82.5347590000001 # Commanded vehicle depth:2100.320627 # Seafloor depth:-2182.855386 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.14; 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 = 330.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2159.462426 meters looking forward 200.000000 meters along route # Maximum depth: 2182.564887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.462426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996346; longitude = -129.074761; captureRadius = 10; duration = 110; initialDepth = 2054.880814; finalDepth = 2079.462426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0352370000001 # Actual altitude: 98.0352370000001 # Commanded vehicle depth:2079.462426 # Seafloor depth:-2177.497663 # 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 110.684735 meters # Minimum depth: 2134.880814 meters looking forward 200.000000 meters along route # Maximum depth: 2172.932147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.880814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995482; longitude = -129.075296; captureRadius = 10; duration = 110; initialDepth = 2039.717807; finalDepth = 2054.880814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0352370000001 # Actual altitude: 98.0352370000001 # Commanded vehicle depth:2054.880814 # Seafloor depth:-2152.226939 # 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 110.684735 meters # Minimum depth: 2119.717807 meters looking forward 200.000000 meters along route # Maximum depth: 2146.107697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.717807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994617; longitude = -129.075832; captureRadius = 10; duration = 110; initialDepth = 2036.369929; finalDepth = 2039.717807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.346125 # Actual altitude: 97.346125 # Commanded vehicle depth:2039.717807 # Seafloor depth:-2131.218177 # 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 110.684735 meters # Minimum depth: 2116.369929 meters looking forward 200.000000 meters along route # Maximum depth: 2127.806780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.369929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993753; longitude = -129.076367; captureRadius = 10; duration = 110; initialDepth = 2036.369929; finalDepth = 2036.369929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.5003700000002 # Actual altitude: 91.5003700000002 # Commanded vehicle depth:2036.369929 # Seafloor depth:-2117.501319 # 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 110.684735 meters # Minimum depth: 2116.369929 meters looking forward 200.000000 meters along route # Maximum depth: 2119.752803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.369929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992889; longitude = -129.076902; captureRadius = 10; duration = 110; initialDepth = 2037.239307; finalDepth = 2036.369929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6772639999999 # Actual altitude: 81.6772639999999 # Commanded vehicle depth:2036.369929 # Seafloor depth:-2118.047193 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.71; 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 = 326.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2117.239307 meters looking forward 200.000000 meters along route # Maximum depth: 2134.761684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.239307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992025; longitude = -129.077438; captureRadius = 10; duration = 110; initialDepth = 2047.397536; finalDepth = 2037.239307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7929590000003 # Actual altitude: 85.7929590000003 # Commanded vehicle depth:2037.239307 # Seafloor depth:-2123.032266 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.17; 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 = 343.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2127.397536 meters looking forward 200.000000 meters along route # Maximum depth: 2151.194673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.397536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991160; longitude = -129.077973; captureRadius = 10; duration = 110; initialDepth = 2063.943803; finalDepth = 2047.397536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0756280000001 # Actual altitude: 92.0756280000001 # Commanded vehicle depth:2047.397536 # Seafloor depth:-2139.473164 # 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 = 18.42; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2143.943803 meters looking forward 200.000000 meters along route # Maximum depth: 2159.777364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.943803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990296; longitude = -129.078508; captureRadius = 10; duration = 110; initialDepth = 2076.128128; finalDepth = 2063.943803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0756280000001 # Actual altitude: 92.0756280000001 # Commanded vehicle depth:2063.943803 # Seafloor depth:-2153.650244 # 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 = 18.42; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2156.128128 meters looking forward 200.000000 meters along route # Maximum depth: 2159.777364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.128128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989432; longitude = -129.079044; captureRadius = 10; duration = 110; initialDepth = 2078.185396; finalDepth = 2076.128128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7064409999998 # Actual altitude: 89.7064409999998 # Commanded vehicle depth:2076.128128 # Seafloor depth:-2159.528403 # 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 110.684735 meters # Minimum depth: 2158.185396 meters looking forward 200.000000 meters along route # Maximum depth: 2159.103769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.185396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988567; longitude = -129.079579; captureRadius = 10; duration = 110; initialDepth = 2076.108448; finalDepth = 2078.185396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.400275 # Actual altitude: 83.400275 # Commanded vehicle depth:2078.185396 # Seafloor depth:-2158.237965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.60; 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 = 333.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2156.108448 meters looking forward 200.000000 meters along route # Maximum depth: 2159.133736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.108448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987703; longitude = -129.080114; captureRadius = 10; duration = 110; initialDepth = 2075.527778; finalDepth = 2076.108448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0252880000003 # Actual altitude: 83.0252880000003 # Commanded vehicle depth:2076.108448 # Seafloor depth:-2159.133736 # 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 = 16.61; 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 110.684735 meters # Minimum depth: 2155.527778 meters looking forward 200.000000 meters along route # Maximum depth: 2158.654122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.527778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986839; longitude = -129.080650; captureRadius = 10; duration = 110; initialDepth = 2075.559929; finalDepth = 2075.527778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0252880000003 # Actual altitude: 83.0252880000003 # Commanded vehicle depth:2075.527778 # Seafloor depth:-2155.527778 # 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 = 16.61; 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 110.684735 meters # Minimum depth: 2155.559929 meters looking forward 200.000000 meters along route # Maximum depth: 2156.359709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.559929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985975; longitude = -129.081185; captureRadius = 10; duration = 110; initialDepth = 2075.559929; finalDepth = 2075.559929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2648589999999 # Actual altitude: 80.2648589999999 # Commanded vehicle depth:2075.559929 # Seafloor depth:-2155.824788 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.06; 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 = 321.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2155.559929 meters looking forward 200.000000 meters along route # Maximum depth: 2157.062289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.559929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985110; longitude = -129.081720; captureRadius = 10; duration = 110; initialDepth = 2074.304037; finalDepth = 2075.559929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.286654 # Actual altitude: 81.286654 # Commanded vehicle depth:2075.559929 # Seafloor depth:-2156.846583 # 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 110.684735 meters # Minimum depth: 2154.304037 meters looking forward 200.000000 meters along route # Maximum depth: 2157.062289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.304037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984246; longitude = -129.082256; captureRadius = 10; duration = 110; initialDepth = 2071.355793; finalDepth = 2074.304037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2756880000002 # Actual altitude: 82.2756880000002 # Commanded vehicle depth:2074.304037 # Seafloor depth:-2156.579725 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2151.355793 meters looking forward 200.000000 meters along route # Maximum depth: 2156.417454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.355793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983382; longitude = -129.082791; captureRadius = 10; duration = 110; initialDepth = 2068.126629; finalDepth = 2071.355793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2756880000002 # Actual altitude: 82.2756880000002 # Commanded vehicle depth:2071.355793 # Seafloor depth:-2153.011012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 329.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2148.126629 meters looking forward 200.000000 meters along route # Maximum depth: 2152.141132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2068.126629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982517; longitude = -129.083326; captureRadius = 10; duration = 110; initialDepth = 2066.758170; finalDepth = 2068.126629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5059080000001 # Actual altitude: 82.5059080000001 # Commanded vehicle depth:2068.126629 # Seafloor depth:-2150.632537 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.02; 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 = 330.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2146.758170 meters looking forward 200.000000 meters along route # Maximum depth: 2149.306729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.758170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981653; longitude = -129.083862; captureRadius = 10; duration = 110; initialDepth = 2066.559403; finalDepth = 2066.758170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5059080000001 # Actual altitude: 82.5059080000001 # Commanded vehicle depth:2066.75817 # Seafloor depth:-2147.890758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.02; 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 = 330.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2146.559403 meters looking forward 200.000000 meters along route # Maximum depth: 2147.422040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.559403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980789; longitude = -129.084397; captureRadius = 10; duration = 110; initialDepth = 2062.497196; finalDepth = 2066.559403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1325879999999 # Actual altitude: 81.1325879999999 # Commanded vehicle depth:2066.559403 # Seafloor depth:-2146.632971 # 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 40 # Segment length 110.684735 meters # Minimum depth: 2142.497196 meters looking forward 200.000000 meters along route # Maximum depth: 2146.715078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.497196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979925; longitude = -129.084932; captureRadius = 10; duration = 110; initialDepth = 2060.932825; finalDepth = 2062.497196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4878370000001 # Actual altitude: 83.4878370000001 # Commanded vehicle depth:2062.497196 # Seafloor depth:-2145.985033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.95; 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 = 333.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2140.932825 meters looking forward 200.000000 meters along route # Maximum depth: 2144.845934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.932825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979060; longitude = -129.085468; captureRadius = 10; duration = 110; initialDepth = 2060.565557; finalDepth = 2060.932825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4878370000001 # Actual altitude: 83.4878370000001 # Commanded vehicle depth:2060.932825 # Seafloor depth:-2142.312606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.95; 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 = 333.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2140.565557 meters looking forward 200.000000 meters along route # Maximum depth: 2142.031456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.565557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978196; longitude = -129.086003; captureRadius = 10; duration = 110; initialDepth = 2060.565557; finalDepth = 2060.565557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3797810000001 # Actual altitude: 81.3797810000001 # Commanded vehicle depth:2060.565557 # Seafloor depth:-2140.671561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.52; 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 = 325.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2140.565557 meters looking forward 200.000000 meters along route # Maximum depth: 2143.912097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.565557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977332; longitude = -129.086538; captureRadius = 10; duration = 110; initialDepth = 2062.246029; finalDepth = 2060.565557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7712340000003 # Actual altitude: 80.7712340000003 # Commanded vehicle depth:2060.565557 # Seafloor depth:-2141.336791 # 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 110.684735 meters # Minimum depth: 2142.246029 meters looking forward 200.000000 meters along route # Maximum depth: 2145.062545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.246029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976467; longitude = -129.087074; captureRadius = 10; duration = 110; initialDepth = 2061.708782; finalDepth = 2062.246029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6573630000003 # Actual altitude: 82.6573630000003 # Commanded vehicle depth:2062.246029 # Seafloor depth:-2144.903392 # 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 110.684735 meters # Minimum depth: 2141.708782 meters looking forward 200.000000 meters along route # Maximum depth: 2145.062545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.708782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975603; longitude = -129.087609; captureRadius = 10; duration = 110; initialDepth = 2061.855765; finalDepth = 2061.708782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6573630000003 # Actual altitude: 82.6573630000003 # Commanded vehicle depth:2061.708782 # Seafloor depth:-2141.708782 # 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 110.684735 meters # Minimum depth: 2141.855765 meters looking forward 200.000000 meters along route # Maximum depth: 2144.665801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.855765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974739; longitude = -129.088144; captureRadius = 10; duration = 110; initialDepth = 2063.523574; finalDepth = 2061.855765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.4944020000003 # Actual altitude: 81.4944020000003 # Commanded vehicle depth:2061.855765 # Seafloor depth:-2143.350167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.98; 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 = 325.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2143.523574 meters looking forward 200.000000 meters along route # Maximum depth: 2145.922693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.523574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973875; longitude = -129.088680; captureRadius = 10; duration = 110; initialDepth = 2065.130310; finalDepth = 2063.523574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5496400000002 # Actual altitude: 81.5496400000002 # Commanded vehicle depth:2063.523574 # Seafloor depth:-2145.073214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.20; 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 = 326.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2145.130310 meters looking forward 200.000000 meters along route # Maximum depth: 2147.536275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.130310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973010; longitude = -129.089215; captureRadius = 10; duration = 110; initialDepth = 2066.480443; finalDepth = 2065.130310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7918799999998 # Actual altitude: 81.7918799999998 # Commanded vehicle depth:2065.13031 # Seafloor depth:-2146.922190 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.17; 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 = 327.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2146.480443 meters looking forward 200.000000 meters along route # Maximum depth: 2153.456040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.480443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972146; longitude = -129.089750; captureRadius = 10; duration = 110; initialDepth = 2071.203790; finalDepth = 2066.480443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7918799999998 # Actual altitude: 81.7918799999998 # Commanded vehicle depth:2066.480443 # Seafloor depth:-2148.114176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.17; 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 = 327.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 110.684735 meters # Minimum depth: 2151.203790 meters looking forward 200.000000 meters along route # Maximum depth: 2156.233674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.203790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971282; longitude = -129.090286; captureRadius = 10; duration = 110; initialDepth = 2073.456040; finalDepth = 2071.203790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4388640000002 # Actual altitude: 82.4388640000002 # Commanded vehicle depth:2071.20379 # Seafloor depth:-2153.642654 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 110.684735 meters # Minimum depth: 2153.456040 meters looking forward 200.000000 meters along route # Maximum depth: 2159.247076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.456040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970274; longitude = -129.090910; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2075.187967; finalDepth = 2073.456040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.360549 # Actual altitude: 83.360549 # Commanded vehicle depth:2073.45604 # Seafloor depth:-2156.816589 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.44; 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 = 333.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 110.684735 meters # Minimum depth: 2155.187967 meters looking forward 200.000000 meters along route # Maximum depth: 2166.159443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2075.187967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970108; longitude = -129.090286; captureRadius = 10; duration = 110; initialDepth = 2078.742865; finalDepth = 2075.187967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 84.4909340000004 # Actual altitude: 84.4909340000004 # Commanded vehicle depth:2075.187967 # Seafloor depth:-2159.678901 # 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 110.684735 meters # Minimum depth: 2158.742865 meters looking forward 200.000000 meters along route # Maximum depth: 2168.243945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.742865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969764; longitude = -129.088992; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2085.522102; finalDepth = 2078.742865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8583309999999 # Actual altitude: 87.8583309999999 # Commanded vehicle depth:2078.742865 # Seafloor depth:-2166.601196 # 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 110.684735 meters # Minimum depth: 2165.522102 meters looking forward 200.000000 meters along route # Maximum depth: 2172.068748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.522102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969164; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2090.656685; finalDepth = 2085.522102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8583309999999 # Actual altitude: 87.8583309999999 # Commanded vehicle depth:2085.522102 # Seafloor depth:-2169.324170 # 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 110.684735 meters # Minimum depth: 2170.656685 meters looking forward 200.000000 meters along route # Maximum depth: 2174.396058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.656685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968265; longitude = -129.089884; captureRadius = 10; duration = 110; initialDepth = 2092.949607; finalDepth = 2090.656685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.802068 # Actual altitude: 83.802068 # Commanded vehicle depth:2090.656685 # Seafloor depth:-2172.237712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.21; 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 = 335.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 110.684735 meters # Minimum depth: 2172.949607 meters looking forward 200.000000 meters along route # Maximum depth: 2176.134404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.949607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967366; longitude = -129.090420; captureRadius = 10; duration = 110; initialDepth = 2095.463135; finalDepth = 2092.949607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6849069999998 # Actual altitude: 81.6849069999998 # Commanded vehicle depth:2092.949607 # Seafloor depth:-2174.634514 # 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 110.684735 meters # Minimum depth: 2175.463135 meters looking forward 200.000000 meters along route # Maximum depth: 2176.544719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.463135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966467; longitude = -129.090955; captureRadius = 10; duration = 110; initialDepth = 2095.463135; finalDepth = 2095.463135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6849069999998 # Actual altitude: 81.6849069999998 # Commanded vehicle depth:2095.463135 # Seafloor depth:-2176.458851 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 110.684735 meters # Minimum depth: 2175.463135 meters looking forward 200.000000 meters along route # Maximum depth: 2176.808769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.463135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965417; longitude = -129.091580; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2095.463135; finalDepth = 2095.463135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9957159999999 # Actual altitude: 80.9957159999999 # Commanded vehicle depth:2095.463135 # Seafloor depth:-2176.132690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.98; 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 = 323.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 110.684735 meters # Minimum depth: 2175.463135 meters looking forward 200.000000 meters along route # Maximum depth: 2179.110637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.463135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965342; longitude = -129.091357; captureRadius = 10; duration = 110; initialDepth = 2095.463135; finalDepth = 2095.463135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 82.1882059999998 # Actual altitude: 82.1882059999998 # Commanded vehicle depth:2095.463135 # Seafloor depth:-2177.651341 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.75; 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 = 328.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 110.684735 meters # Minimum depth: 2175.463135 meters looking forward 200.000000 meters along route # Maximum depth: 2179.110637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.463135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964907; longitude = -129.090063; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2096.936251; finalDepth = 2095.463135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1882059999998 # Actual altitude: 82.1882059999998 # Commanded vehicle depth:2095.463135 # Seafloor depth:-2177.190430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.75; 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 = 328.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.684735 meters # Minimum depth: 2176.936251 meters looking forward 200.000000 meters along route # Maximum depth: 2179.110637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.936251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964982; longitude = -129.090018; captureRadius = 10; duration = 110; initialDepth = 2095.103433; finalDepth = 2096.936251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7272950000001 # Actual altitude: 81.7272950000001 # Commanded vehicle depth:2096.936251 # Seafloor depth:-2177.188134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.91; 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 = 326.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.684735 meters # Minimum depth: 2175.103433 meters looking forward 200.000000 meters along route # Maximum depth: 2177.491910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.103433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965872; longitude = -129.089483; captureRadius = 10; duration = 110; initialDepth = 2092.691436; finalDepth = 2095.103433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3738639999997 # Actual altitude: 81.3738639999997 # Commanded vehicle depth:2095.103433 # Seafloor depth:-2176.477297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 325.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.684735 meters # Minimum depth: 2172.691436 meters looking forward 200.000000 meters along route # Maximum depth: 2176.136859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.691436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966763; longitude = -129.088947; captureRadius = 10; duration = 110; initialDepth = 2091.974151; finalDepth = 2092.691436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.714121 # Actual altitude: 81.714121 # Commanded vehicle depth:2092.691436 # Seafloor depth:-2174.405557 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.86; 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 = 326.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.684735 meters # Minimum depth: 2171.974151 meters looking forward 200.000000 meters along route # Maximum depth: 2174.015923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.974151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967654; longitude = -129.088412; captureRadius = 10; duration = 110; initialDepth = 2091.276155; finalDepth = 2091.974151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.714121 # Actual altitude: 81.714121 # Commanded vehicle depth:2091.974151 # Seafloor depth:-2172.599988 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.86; 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 = 326.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.684735 meters # Minimum depth: 2171.276155 meters looking forward 200.000000 meters along route # Maximum depth: 2173.074967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.276155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968544; longitude = -129.087877; captureRadius = 10; duration = 110; initialDepth = 2091.276155; finalDepth = 2091.276155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.625837 # Actual altitude: 80.625837 # Commanded vehicle depth:2091.276155 # Seafloor depth:-2171.300866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.50; 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 = 322.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 110.684735 meters # Minimum depth: 2171.276155 meters looking forward 200.000000 meters along route # Maximum depth: 2176.752016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.276155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969584; longitude = -129.087252; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.834184; finalDepth = 2091.276155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 80.5634449999998 # Actual altitude: 80.5634449999998 # Commanded vehicle depth:2091.276155 # Seafloor depth:-2171.839600 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.25; 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 = 322.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 110.684735 meters # Minimum depth: 2171.834184 meters looking forward 200.000000 meters along route # Maximum depth: 2177.883667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.834184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969314; longitude = -129.086182; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2091.089827; finalDepth = 2091.834184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0494830000002 # Actual altitude: 86.0494830000002 # Commanded vehicle depth:2091.834184 # Seafloor depth:-2177.883667 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.20; 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 = 344.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.684735 meters # Minimum depth: 2171.089827 meters looking forward 200.000000 meters along route # Maximum depth: 2176.042139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.089827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968406; longitude = -129.086806; captureRadius = 10; duration = 110; initialDepth = 2089.215149; finalDepth = 2091.089827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0494830000002 # Actual altitude: 86.0494830000002 # Commanded vehicle depth:2091.089827 # Seafloor depth:-2173.472541 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.20; 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 = 344.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.684735 meters # Minimum depth: 2169.215149 meters looking forward 200.000000 meters along route # Maximum depth: 2171.327277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.215149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967432; longitude = -129.087475; captureRadius = 10; duration = 110; initialDepth = 2089.215149; finalDepth = 2089.215149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3827140000003 # Actual altitude: 82.3827140000003 # Commanded vehicle depth:2089.215149 # Seafloor depth:-2170.873531 # 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 during line 34 # Segment length 110.684735 meters # Minimum depth: 2169.215149 meters looking forward 200.000000 meters along route # Maximum depth: 2172.484165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.215149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966459; longitude = -129.088144; captureRadius = 10; duration = 110; initialDepth = 2090.828799; finalDepth = 2089.215149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6583820000001 # Actual altitude: 81.6583820000001 # Commanded vehicle depth:2089.215149 # Seafloor depth:-2169.357324 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.63; 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 = 326.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.684735 meters # Minimum depth: 2170.828799 meters looking forward 200.000000 meters along route # Maximum depth: 2175.795200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.828799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965485; longitude = -129.088814; captureRadius = 10; duration = 110; initialDepth = 2094.525238; finalDepth = 2090.828799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3260399999999 # Actual altitude: 82.3260399999999 # Commanded vehicle depth:2090.828799 # Seafloor depth:-2173.154839 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.30; 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 = 329.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.684735 meters # Minimum depth: 2174.525238 meters looking forward 200.000000 meters along route # Maximum depth: 2183.654152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2094.525238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964512; longitude = -129.089483; captureRadius = 10; duration = 110; initialDepth = 2100.866449; finalDepth = 2094.525238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6209139999996 # Actual altitude: 82.6209139999996 # Commanded vehicle depth:2094.525238 # Seafloor depth:-2177.146152 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.48; 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 = 330.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 110.684735 meters # Minimum depth: 2180.866449 meters looking forward 200.000000 meters along route # Maximum depth: 2186.318446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.866449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963538; longitude = -129.090152; captureRadius = 10; duration = 110; initialDepth = 2103.654152; finalDepth = 2100.866449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3047329999999 # Actual altitude: 84.3047329999999 # Commanded vehicle depth:2100.866449 # Seafloor depth:-2185.171182 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.22; 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 = 337.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 110.684735 meters # Minimum depth: 2183.654152 meters looking forward 200.000000 meters along route # Maximum depth: 2186.318446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.654152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962629; longitude = -129.090777; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2101.469256; finalDepth = 2103.654152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3047329999999 # Actual altitude: 84.3047329999999 # Commanded vehicle depth:2103.654152 # Seafloor depth:-2186.070862 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.22; 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 = 337.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 110.684735 meters # Minimum depth: 2181.469256 meters looking forward 200.000000 meters along route # Maximum depth: 2186.070862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.469256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962394; longitude = -129.091357; captureRadius = 10; duration = 110; initialDepth = 2092.099639; finalDepth = 2101.469256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.757951 # Actual altitude: 83.757951 # Commanded vehicle depth:2101.469256 # Seafloor depth:-2185.227207 # 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 33 # Segment length 110.684735 meters # Minimum depth: 2172.099639 meters looking forward 200.000000 meters along route # Maximum depth: 2184.391769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.099639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961906; longitude = -129.092561; captureRadius = 10; duration = 110; initialDepth = 2091.669495; finalDepth = 2092.099639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8716159999999 # Actual altitude: 88.8716159999999 # Commanded vehicle depth:2092.099639 # Seafloor depth:-2180.971255 # 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 110.684735 meters # Minimum depth: 2171.669495 meters looking forward 200.000000 meters along route # Maximum depth: 2179.850951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.669495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961400; longitude = -129.093810; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2093.222695; finalDepth = 2091.669495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8716159999999 # Actual altitude: 88.8716159999999 # Commanded vehicle depth:2091.669495 # Seafloor depth:-2171.669495 # 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 110.684735 meters # Minimum depth: 2173.222695 meters looking forward 200.000000 meters along route # Maximum depth: 2180.361314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.222695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.094322; captureRadius = 10; duration = 110; initialDepth = 2099.536898; finalDepth = 2093.222695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2074809999999 # Actual altitude: 85.2074809999999 # Commanded vehicle depth:2093.222695 # Seafloor depth:-2178.430176 # 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 110.684735 meters # Minimum depth: 2179.536898 meters looking forward 200.000000 meters along route # Maximum depth: 2183.587364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.536898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959631; longitude = -129.094851; captureRadius = 10; duration = 110; initialDepth = 2099.881055; finalDepth = 2099.536898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2074809999999 # Actual altitude: 85.2074809999999 # Commanded vehicle depth:2099.536898 # Seafloor depth:-2180.397709 # 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 110.684735 meters # Minimum depth: 2179.881055 meters looking forward 200.000000 meters along route # Maximum depth: 2183.587364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.881055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.095381; captureRadius = 10; duration = 110; initialDepth = 2093.078915; finalDepth = 2099.881055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6224200000001 # Actual altitude: 83.6224200000001 # Commanded vehicle depth:2099.881055 # Seafloor depth:-2183.503475 # 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 110.684735 meters # Minimum depth: 2173.078915 meters looking forward 200.000000 meters along route # Maximum depth: 2182.885268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.078915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957832; longitude = -129.095910; captureRadius = 10; duration = 110; initialDepth = 2084.121516; finalDepth = 2093.078915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.778636 # Actual altitude: 86.778636 # Commanded vehicle depth:2093.078915 # Seafloor depth:-2179.857551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.11; 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 = 347.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 110.684735 meters # Minimum depth: 2164.121516 meters looking forward 200.000000 meters along route # Maximum depth: 2179.037913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.121516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956928; longitude = -129.096442; captureRadius = 10; duration = 110; initialDepth = 2078.480261; finalDepth = 2084.121516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9126889999998 # Actual altitude: 88.9126889999998 # Commanded vehicle depth:2084.121516 # Seafloor depth:-2173.034205 # 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 110.684735 meters # Minimum depth: 2158.480261 meters looking forward 200.000000 meters along route # Maximum depth: 2171.485178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.480261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956018; longitude = -129.096978; captureRadius = 10; duration = 110; initialDepth = 2077.225127; finalDepth = 2078.480261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.9126889999998 # Actual altitude: 88.9126889999998 # Commanded vehicle depth:2078.480261 # Seafloor depth:-2163.919408 # 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 110.684735 meters # Minimum depth: 2157.225127 meters looking forward 200.000000 meters along route # Maximum depth: 2161.795467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.225127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955108; longitude = -129.097513; captureRadius = 10; duration = 110; initialDepth = 2076.792551; finalDepth = 2077.225127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.439147 # Actual altitude: 85.439147 # Commanded vehicle depth:2077.225127 # Seafloor depth:-2158.381370 # 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 110.684735 meters # Minimum depth: 2156.792551 meters looking forward 200.000000 meters along route # Maximum depth: 2157.964202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.792551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.098027; captureRadius = 10; duration = 110; initialDepth = 2076.792551; finalDepth = 2076.792551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1562429999999 # Actual altitude: 81.1562429999999 # Commanded vehicle depth:2076.792551 # Seafloor depth:-2157.229655 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.62; 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 = 324.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 110.684735 meters # Minimum depth: 2156.792551 meters looking forward 200.000000 meters along route # Maximum depth: 2167.048091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.792551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953365; longitude = -129.098539; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2076.792551; finalDepth = 2076.792551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4371040000001 # Actual altitude: 80.4371040000001 # Commanded vehicle depth:2076.792551 # Seafloor depth:-2156.874695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.75; 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 = 321.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 110.684735 meters # Minimum depth: 2156.792551 meters looking forward 200.000000 meters along route # Maximum depth: 2183.568861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.792551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952664; longitude = -129.098048; captureRadius = 10; duration = 110; initialDepth = 2077.085493; finalDepth = 2076.792551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.990409 # Actual altitude: 90.990409 # Commanded vehicle depth:2076.792551 # Seafloor depth:-2167.782960 # 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 = 18.20; 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 110.684735 meters # Minimum depth: 2157.085493 meters looking forward 200.000000 meters along route # Maximum depth: 2185.390260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.085493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951836; longitude = -129.097468; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2081.394644; finalDepth = 2077.085493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.027178 # Actual altitude: 100 # Commanded vehicle depth:2077.085493 # Seafloor depth:-2185.112671 # 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 110.684735 meters # Minimum depth: 2172.052286 meters looking forward 200.000000 meters along route # Maximum depth: 2189.213674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.394644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951716; longitude = -129.097539; captureRadius = 10; duration = 110; initialDepth = 2106.894408; finalDepth = 2081.394644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.027178 # Actual altitude: 100 # Commanded vehicle depth:2081.3946438 # Seafloor depth:-2185.677351 # 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 110.684735 meters # Minimum depth: 2186.894408 meters looking forward 200.000000 meters along route # Maximum depth: 2190.379670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.894408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950817; longitude = -129.098075; captureRadius = 10; duration = 110; initialDepth = 2101.901544; finalDepth = 2106.894408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.2827072 # Actual altitude: 100 # Commanded vehicle depth:2106.894408 # Seafloor depth:-2189.277544 # 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 110.684735 meters # Minimum depth: 2181.901544 meters looking forward 200.000000 meters along route # Maximum depth: 2190.379670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.901544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949917; longitude = -129.098610; captureRadius = 10; duration = 110; initialDepth = 2099.307356; finalDepth = 2101.901544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3030140000001 # Actual altitude: 87.3030140000001 # Commanded vehicle depth:2101.901544 # Seafloor depth:-2189.204558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.21; 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 = 349.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 110.684735 meters # Minimum depth: 2179.307356 meters looking forward 200.000000 meters along route # Maximum depth: 2187.816833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.307356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.099146; captureRadius = 10; duration = 110; initialDepth = 2092.698845; finalDepth = 2099.307356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3030140000001 # Actual altitude: 87.3030140000001 # Commanded vehicle depth:2099.307356 # Seafloor depth:-2181.514836 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.21; 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 = 349.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 110.684735 meters # Minimum depth: 2172.698845 meters looking forward 200.000000 meters along route # Maximum depth: 2180.883373 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.698845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.099681; captureRadius = 10; duration = 110; initialDepth = 2084.423055; finalDepth = 2092.698845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2188490000003 # Actual altitude: 86.2188490000003 # Commanded vehicle depth:2092.698845 # Seafloor depth:-2178.917694 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.88; 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 = 344.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 110.684735 meters # Minimum depth: 2164.423055 meters looking forward 200.000000 meters along route # Maximum depth: 2178.032648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.423055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.100216; captureRadius = 10; duration = 110; initialDepth = 2082.147323; finalDepth = 2084.423055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9095679999996 # Actual altitude: 87.9095679999996 # Commanded vehicle depth:2084.423055 # Seafloor depth:-2172.332623 # 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 = 17.58; 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 110.684735 meters # Minimum depth: 2162.147323 meters looking forward 200.000000 meters along route # Maximum depth: 2171.521905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.147323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946365; longitude = -129.100725; captureRadius = 10; duration = 110; initialDepth = 2082.027054; finalDepth = 2082.147323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9095679999996 # Actual altitude: 87.9095679999996 # Commanded vehicle depth:2082.147323 # Seafloor depth:-2164.446510 # 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 = 17.58; 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 110.684735 meters # Minimum depth: 2162.027054 meters looking forward 200.000000 meters along route # Maximum depth: 2164.690315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.027054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945510; longitude = -129.101234; captureRadius = 10; duration = 110; initialDepth = 2082.027054; finalDepth = 2082.027054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2991870000001 # Actual altitude: 82.2991870000001 # Commanded vehicle depth:2082.027054 # Seafloor depth:-2162.040196 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 110.684735 meters # Minimum depth: 2162.027054 meters looking forward 200.000000 meters along route # Maximum depth: 2165.056631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.027054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944641; longitude = -129.101751; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2082.420542; finalDepth = 2082.027054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5659639999999 # Actual altitude: 81.5659639999999 # Commanded vehicle depth:2082.027054 # Seafloor depth:-2163.593018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.26; 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 = 326.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.684735 meters # Minimum depth: 2162.420542 meters looking forward 200.000000 meters along route # Maximum depth: 2194.213459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.420542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944663; longitude = -129.101528; captureRadius = 10; duration = 110; initialDepth = 2091.014269; finalDepth = 2082.420542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4978500000002 # Actual altitude: 85.4978500000002 # Commanded vehicle depth:2082.420542 # Seafloor depth:-2167.918392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.99; 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 = 341.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 110.684735 meters # Minimum depth: 2171.014269 meters looking forward 200.000000 meters along route # Maximum depth: 2209.196300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.014269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944797; longitude = -129.100190; captureRadius = 10; duration = 110; initialDepth = 2108.681864; finalDepth = 2091.014269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 104.217279 # Actual altitude: 100 # Commanded vehicle depth:2091.014269 # Seafloor depth:-2195.231548 # 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 110.684735 meters # Minimum depth: 2188.681864 meters looking forward 200.000000 meters along route # Maximum depth: 2212.573480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.681864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944940; longitude = -129.098762; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2125.846919; finalDepth = 2108.681864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.217279 # Actual altitude: 100 # Commanded vehicle depth:2108.681864 # Seafloor depth:-2209.784424 # 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 110.684735 meters # Minimum depth: 2207.138619 meters looking forward 200.000000 meters along route # Maximum depth: 2215.815448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.846919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945420; longitude = -129.098486; captureRadius = 10; duration = 110; initialDepth = 2133.691850; finalDepth = 2125.846919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.10256 # Actual altitude: 100 # Commanded vehicle depth:2125.8469193 # Seafloor depth:-2213.076382 # 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 110.684735 meters # Minimum depth: 2213.691850 meters looking forward 200.000000 meters along route # Maximum depth: 2215.815448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.691850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946320; longitude = -129.097968; captureRadius = 10; duration = 110; initialDepth = 2133.403665; finalDepth = 2133.691850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2294626999997 # Actual altitude: 87.2294626999997 # Commanded vehicle depth:2133.69185 # Seafloor depth:-2215.724967 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.45; MB_Bottom_Detect_Filter_Max_Range = 348.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.684735 meters # Minimum depth: 2213.403665 meters looking forward 200.000000 meters along route # Maximum depth: 2215.143879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.403665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947219; longitude = -129.097451; captureRadius = 10; duration = 110; initialDepth = 2133.403665; finalDepth = 2133.403665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0331169999999 # Actual altitude: 82.0331169999999 # Commanded vehicle depth:2133.403665 # Seafloor depth:-2214.311311 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.13; 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 = 328.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.684735 meters # Minimum depth: 2213.403665 meters looking forward 200.000000 meters along route # Maximum depth: 2214.560943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2133.403665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948118; longitude = -129.096933; captureRadius = 10; duration = 110; initialDepth = 2132.897765; finalDepth = 2133.403665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1572780000001 # Actual altitude: 81.1572780000001 # Commanded vehicle depth:2133.403665 # Seafloor depth:-2214.560943 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.63; 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 = 324.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.684735 meters # Minimum depth: 2212.897765 meters looking forward 200.000000 meters along route # Maximum depth: 2214.414312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.897765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949018; longitude = -129.096416; captureRadius = 10; duration = 110; initialDepth = 2132.897765; finalDepth = 2132.897765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1572780000001 # Actual altitude: 81.1572780000001 # Commanded vehicle depth:2132.897765 # Seafloor depth:-2213.639753 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.63; 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 = 324.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.684735 meters # Minimum depth: 2212.897765 meters looking forward 200.000000 meters along route # Maximum depth: 2217.004173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.897765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949917; longitude = -129.095899; captureRadius = 10; duration = 110; initialDepth = 2134.711907; finalDepth = 2132.897765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7419879999998 # Actual altitude: 80.7419879999998 # Commanded vehicle depth:2132.897765 # Seafloor depth:-2213.536867 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.97; 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 = 322.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.684735 meters # Minimum depth: 2214.711907 meters looking forward 200.000000 meters along route # Maximum depth: 2217.096111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.711907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950833; longitude = -129.095372; captureRadius = 10; duration = 110; initialDepth = 2131.690265; finalDepth = 2134.711907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3046990000003 # Actual altitude: 82.3046990000003 # Commanded vehicle depth:2134.711907 # Seafloor depth:-2217.016606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.22; 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 = 329.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 110.684735 meters # Minimum depth: 2211.690265 meters looking forward 200.000000 meters along route # Maximum depth: 2217.096111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2131.690265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951686; longitude = -129.094881; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2127.624496; finalDepth = 2131.690265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3981749999998 # Actual altitude: 84.3981749999998 # Commanded vehicle depth:2131.690265 # Seafloor depth:-2216.088440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.88; MB_Bottom_Detect_Filter_Max_Range = 337.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 110.684735 meters # Minimum depth: 2207.624496 meters looking forward 200.000000 meters along route # Maximum depth: 2215.984474 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2127.624496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952526; longitude = -129.094301; captureRadius = 10; duration = 110; initialDepth = 2125.897680; finalDepth = 2127.624496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3981749999998 # Actual altitude: 84.3981749999998 # Commanded vehicle depth:2127.624496 # Seafloor depth:-2211.689112 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.88; MB_Bottom_Detect_Filter_Max_Range = 337.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 110.684735 meters # Minimum depth: 2205.897680 meters looking forward 200.000000 meters along route # Maximum depth: 2213.677085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.897680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953365; longitude = -129.093721; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2118.975898; finalDepth = 2125.897680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0646160000001 # Actual altitude: 84.0646160000001 # Commanded vehicle depth:2125.89768 # Seafloor depth:-2207.366882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.26; 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 = 336.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2198.975898 meters looking forward 200.000000 meters along route # Maximum depth: 2208.802454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2118.975898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953875; longitude = -129.093426; captureRadius = 10; duration = 110; initialDepth = 2116.191263; finalDepth = 2118.975898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3805379999999 # Actual altitude: 86.3805379999999 # Commanded vehicle depth:2118.975898 # Seafloor depth:-2205.356436 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.52; 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 = 345.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2196.191263 meters looking forward 200.000000 meters along route # Maximum depth: 2204.099102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.191263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.092907; captureRadius = 10; duration = 110; initialDepth = 2114.803313; finalDepth = 2116.191263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3805379999999 # Actual altitude: 86.3805379999999 # Commanded vehicle depth:2116.191263 # Seafloor depth:-2198.315381 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.52; 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 = 345.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2194.803313 meters looking forward 200.000000 meters along route # Maximum depth: 2197.668255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.803313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.092387; captureRadius = 10; duration = 110; initialDepth = 2108.302072; finalDepth = 2114.803313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1241179999997 # Actual altitude: 82.1241179999997 # Commanded vehicle depth:2114.803313 # Seafloor depth:-2196.263896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 328.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2188.302072 meters looking forward 200.000000 meters along route # Maximum depth: 2196.407216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.302072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956529; longitude = -129.091892; captureRadius = 10; duration = 110; initialDepth = 2104.940985; finalDepth = 2108.302072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1992989999999 # Actual altitude: 86.1992989999999 # Commanded vehicle depth:2108.302072 # Seafloor depth:-2194.501371 # 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 110.684735 meters # Minimum depth: 2184.940985 meters looking forward 200.000000 meters along route # Maximum depth: 2193.640714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.940985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957382; longitude = -129.091399; captureRadius = 10; duration = 110; initialDepth = 2104.545928; finalDepth = 2104.940985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1992989999999 # Actual altitude: 86.1992989999999 # Commanded vehicle depth:2104.940985 # Seafloor depth:-2187.688950 # 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 110.684735 meters # Minimum depth: 2184.545928 meters looking forward 200.000000 meters along route # Maximum depth: 2187.383533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.545928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958282; longitude = -129.090879; captureRadius = 10; duration = 110; initialDepth = 2104.560994; finalDepth = 2104.545928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.747965 # Actual altitude: 82.747965 # Commanded vehicle depth:2104.545928 # Seafloor depth:-2184.692740 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.99; 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 = 330.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2184.560994 meters looking forward 200.000000 meters along route # Maximum depth: 2194.494526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.560994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959181; longitude = -129.090359; captureRadius = 10; duration = 110; initialDepth = 2108.311873; finalDepth = 2104.560994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2517640000001 # Actual altitude: 83.2517640000001 # Commanded vehicle depth:2104.560994 # Seafloor depth:-2187.812758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.01; 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 = 333.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2188.311873 meters looking forward 200.000000 meters along route # Maximum depth: 2197.638483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.311873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960080; longitude = -129.089839; captureRadius = 10; duration = 110; initialDepth = 2115.652820; finalDepth = 2108.311873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8075329999997 # Actual altitude: 86.8075329999997 # Commanded vehicle depth:2108.311873 # Seafloor depth:-2195.119406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.23; 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 = 347.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2195.652820 meters looking forward 200.000000 meters along route # Maximum depth: 2198.391077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2115.652820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960928; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2117.717597; finalDepth = 2115.652820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.8075329999997 # Actual altitude: 86.8075329999997 # Commanded vehicle depth:2115.65282 # Seafloor depth:-2197.707084 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.23; 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 = 347.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2197.717597 meters looking forward 200.000000 meters along route # Maximum depth: 2198.513236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.717597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961789; longitude = -129.088851; captureRadius = 10; duration = 110; initialDepth = 2117.717597; finalDepth = 2117.717597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0542640000003 # Actual altitude: 82.0542640000003 # Commanded vehicle depth:2117.717597 # Seafloor depth:-2198.007136 # 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 110.684735 meters # Minimum depth: 2197.717597 meters looking forward 200.000000 meters along route # Maximum depth: 2199.891424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.717597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962689; longitude = -129.088331; captureRadius = 10; duration = 110; initialDepth = 2116.160273; finalDepth = 2117.717597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9101050000004 # Actual altitude: 80.9101050000004 # Commanded vehicle depth:2117.717597 # Seafloor depth:-2198.627702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.64; 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 = 323.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2196.160273 meters looking forward 200.000000 meters along route # Maximum depth: 2199.891424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.160273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963588; longitude = -129.087811; captureRadius = 10; duration = 110; initialDepth = 2110.061910; finalDepth = 2116.160273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0539370000001 # Actual altitude: 83.0539370000001 # Commanded vehicle depth:2116.160273 # Seafloor depth:-2199.214210 # 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 110.684735 meters # Minimum depth: 2190.061910 meters looking forward 200.000000 meters along route # Maximum depth: 2198.603602 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.061910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.087291; captureRadius = 10; duration = 110; initialDepth = 2109.080910; finalDepth = 2110.061910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4015060000002 # Actual altitude: 85.4015060000002 # Commanded vehicle depth:2110.06191 # Seafloor depth:-2195.463416 # 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 110.684735 meters # Minimum depth: 2189.080910 meters looking forward 200.000000 meters along route # Maximum depth: 2194.283627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.080910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.086772; captureRadius = 10; duration = 110; initialDepth = 2107.569574; finalDepth = 2109.080910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4015060000002 # Actual altitude: 85.4015060000002 # Commanded vehicle depth:2109.08091 # Seafloor depth:-2189.858579 # 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 110.684735 meters # Minimum depth: 2187.569574 meters looking forward 200.000000 meters along route # Maximum depth: 2189.901272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2107.569574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.086252; captureRadius = 10; duration = 110; initialDepth = 2103.206453; finalDepth = 2107.569574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.5197109999999 # Actual altitude: 81.5197109999999 # Commanded vehicle depth:2107.569574 # Seafloor depth:-2189.089285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.08; 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 = 326.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 110.684735 meters # Minimum depth: 2183.206453 meters looking forward 200.000000 meters along route # Maximum depth: 2189.901272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.206453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.085732; captureRadius = 10; duration = 110; initialDepth = 2097.301318; finalDepth = 2103.206453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.3087800000003 # Actual altitude: 84.3087800000003 # Commanded vehicle depth:2103.206453 # Seafloor depth:-2187.515233 # 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 26 # Segment length 110.684735 meters # Minimum depth: 2177.301318 meters looking forward 200.000000 meters along route # Maximum depth: 2186.333630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.301318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968105; longitude = -129.085200; captureRadius = 10; duration = 110; initialDepth = 2086.994635; finalDepth = 2097.301318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8126150000003 # Actual altitude: 85.8126150000003 # Commanded vehicle depth:2097.301318 # Seafloor depth:-2183.113933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.25; 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 = 343.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 110.684735 meters # Minimum depth: 2166.994635 meters looking forward 200.000000 meters along route # Maximum depth: 2183.647814 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.994635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968955; longitude = -129.084709; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2059.013590; finalDepth = 2086.994635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2399839999998 # Actual altitude: 90.2399839999998 # Commanded vehicle depth:2086.994635 # Seafloor depth:-2177.234619 # 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 25 # Segment length 110.684735 meters # Minimum depth: 2139.013590 meters looking forward 200.000000 meters along route # Maximum depth: 2177.901830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.013590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968665; longitude = -129.083728; captureRadius = 10; duration = 110; initialDepth = 2057.623352; finalDepth = 2059.013590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 105.768929 # Actual altitude: 100 # Commanded vehicle depth:2059.01359 # Seafloor depth:-2164.782519 # 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 110.684735 meters # Minimum depth: 2137.623352 meters looking forward 200.000000 meters along route # Maximum depth: 2172.076731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.623352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968295; longitude = -129.082479; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2057.623352; finalDepth = 2057.623352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.768929 # Actual altitude: 100 # Commanded vehicle depth:2057.623352 # Seafloor depth:-2137.623352 # 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 110.684735 meters # Minimum depth: 2137.623352 meters looking forward 200.000000 meters along route # Maximum depth: 2147.619353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.623352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967905; longitude = -129.082705; captureRadius = 10; duration = 110; initialDepth = 2057.929570; finalDepth = 2057.623352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4201309999999 # Actual altitude: 82.4201309999999 # Commanded vehicle depth:2057.623352 # Seafloor depth:-2140.043483 # 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 24 # Segment length 110.684735 meters # Minimum depth: 2137.929570 meters looking forward 200.000000 meters along route # Maximum depth: 2140.073556 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.929570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967006; longitude = -129.083226; captureRadius = 10; duration = 110; initialDepth = 2058.722175; finalDepth = 2057.929570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4201309999999 # Actual altitude: 82.4201309999999 # Commanded vehicle depth:2057.92957 # Seafloor depth:-2138.329764 # 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 24 # Segment length 110.684735 meters # Minimum depth: 2138.722175 meters looking forward 200.000000 meters along route # Maximum depth: 2140.687888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.722175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966139; longitude = -129.083728; captureRadius = 10; duration = 110; initialDepth = 2059.542165; finalDepth = 2058.722175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1931460000001 # Actual altitude: 81.1931460000001 # Commanded vehicle depth:2058.722175 # Seafloor depth:-2139.915321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2139.542165 meters looking forward 200.000000 meters along route # Maximum depth: 2149.183092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2059.542165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965297; longitude = -129.084216; captureRadius = 10; duration = 110; initialDepth = 2063.624226; finalDepth = 2059.542165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0894150000004 # Actual altitude: 82.0894150000004 # Commanded vehicle depth:2059.542165 # Seafloor depth:-2141.631580 # 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 24 # Segment length 110.684735 meters # Minimum depth: 2143.624226 meters looking forward 200.000000 meters along route # Maximum depth: 2153.398578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.624226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964398; longitude = -129.084737; captureRadius = 10; duration = 110; initialDepth = 2071.838938; finalDepth = 2063.624226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4921300000001 # Actual altitude: 86.4921300000001 # Commanded vehicle depth:2063.624226 # Seafloor depth:-2150.116356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 345.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2151.838938 meters looking forward 200.000000 meters along route # Maximum depth: 2158.666475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.838938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963498; longitude = -129.085258; captureRadius = 10; duration = 110; initialDepth = 2074.389648; finalDepth = 2071.838938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4921300000001 # Actual altitude: 86.4921300000001 # Commanded vehicle depth:2071.838938 # Seafloor depth:-2153.778056 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 345.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2154.389648 meters looking forward 200.000000 meters along route # Maximum depth: 2159.817487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.389648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962599; longitude = -129.085779; captureRadius = 10; duration = 110; initialDepth = 2079.225415; finalDepth = 2074.389648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.626209 # Actual altitude: 84.626209 # Commanded vehicle depth:2074.389648 # Seafloor depth:-2159.015857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.50; 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 = 338.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2159.225415 meters looking forward 200.000000 meters along route # Maximum depth: 2161.417082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.225415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961750; longitude = -129.086271; captureRadius = 10; duration = 110; initialDepth = 2079.710199; finalDepth = 2079.225415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.626209 # Actual altitude: 84.626209 # Commanded vehicle depth:2079.225415 # Seafloor depth:-2159.842818 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.50; 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 = 338.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2159.710199 meters looking forward 200.000000 meters along route # Maximum depth: 2163.668475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.710199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960890; longitude = -129.086769; captureRadius = 10; duration = 110; initialDepth = 2081.434139; finalDepth = 2079.710199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.058959 # Actual altitude: 82.058959 # Commanded vehicle depth:2079.710199 # Seafloor depth:-2161.769158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.24; 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 = 328.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2161.434139 meters looking forward 200.000000 meters along route # Maximum depth: 2163.668475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.434139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959991; longitude = -129.087290; captureRadius = 10; duration = 110; initialDepth = 2081.434139; finalDepth = 2081.434139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.058959 # Actual altitude: 82.058959 # Commanded vehicle depth:2081.434139 # Seafloor depth:-2162.294915 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.24; 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 = 328.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2161.434139 meters looking forward 200.000000 meters along route # Maximum depth: 2164.127582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.434139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.087811; captureRadius = 10; duration = 110; initialDepth = 2082.452714; finalDepth = 2081.434139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0701549999999 # Actual altitude: 82.0701549999999 # Commanded vehicle depth:2081.434139 # Seafloor depth:-2163.504294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.28; 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 = 328.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2162.452714 meters looking forward 200.000000 meters along route # Maximum depth: 2167.357325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.452714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.088333; captureRadius = 10; duration = 110; initialDepth = 2082.522277; finalDepth = 2082.452714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0701549999999 # Actual altitude: 82.0701549999999 # Commanded vehicle depth:2082.452714 # Seafloor depth:-2162.452714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.28; 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 = 328.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2162.522277 meters looking forward 200.000000 meters along route # Maximum depth: 2176.831315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.522277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957292; longitude = -129.088854; captureRadius = 10; duration = 110; initialDepth = 2089.033966; finalDepth = 2082.522277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.536709 # Actual altitude: 85.536709 # Commanded vehicle depth:2082.522277 # Seafloor depth:-2168.058986 # 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 110.684735 meters # Minimum depth: 2169.033966 meters looking forward 200.000000 meters along route # Maximum depth: 2187.980477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.033966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956437; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2098.381062; finalDepth = 2089.033966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5758510000001 # Actual altitude: 88.5758510000001 # Commanded vehicle depth:2089.033966 # Seafloor depth:-2177.609817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 110.684735 meters # Minimum depth: 2178.381062 meters looking forward 200.000000 meters along route # Maximum depth: 2188.376245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.381062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955583; longitude = -129.089844; captureRadius = 10; duration = 110; initialDepth = 2104.990079; finalDepth = 2098.381062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8406300000001 # Actual altitude: 89.8406300000001 # Commanded vehicle depth:2098.381062 # Seafloor depth:-2188.221692 # 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 110.684735 meters # Minimum depth: 2184.990079 meters looking forward 200.000000 meters along route # Maximum depth: 2188.376245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.990079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954744; longitude = -129.090330; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2105.095581; finalDepth = 2104.990079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8406300000001 # Actual altitude: 89.8406300000001 # Commanded vehicle depth:2104.990079 # Seafloor depth:-2185.095581 # 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 110.684735 meters # Minimum depth: 2185.095581 meters looking forward 200.000000 meters along route # Maximum depth: 2196.707668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.095581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954129; longitude = -129.091089; captureRadius = 10; duration = 110; initialDepth = 2109.339264; finalDepth = 2105.095581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3361209999998 # Actual altitude: 83.3361209999998 # Commanded vehicle depth:2105.095581 # Seafloor depth:-2188.431702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.34; 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 = 333.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.684735 meters # Minimum depth: 2189.339264 meters looking forward 200.000000 meters along route # Maximum depth: 2207.253602 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.339264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953369; longitude = -129.092026; captureRadius = 10; duration = 110; initialDepth = 2113.029171; finalDepth = 2109.339264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.2310889999999 # Actual altitude: 88.2310889999999 # Commanded vehicle depth:2109.339264 # Seafloor depth:-2197.570353 # 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 110.684735 meters # Minimum depth: 2193.029171 meters looking forward 200.000000 meters along route # Maximum depth: 2211.649342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.029171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952645; longitude = -129.092918; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2123.290239; finalDepth = 2113.029171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.8989299999998 # Actual altitude: 94.8989299999998 # Commanded vehicle depth:2113.029171 # Seafloor depth:-2207.928101 # 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 = 18.98; 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 22 # Segment length 110.684735 meters # Minimum depth: 2203.290239 meters looking forward 200.000000 meters along route # Maximum depth: 2223.358939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.290239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952256; longitude = -129.093148; captureRadius = 10; duration = 110; initialDepth = 2134.606533; finalDepth = 2123.290239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.8989299999998 # Actual altitude: 94.8989299999998 # Commanded vehicle depth:2123.290239 # Seafloor depth:-2212.649539 # 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 = 18.98; 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 22 # Segment length 110.684735 meters # Minimum depth: 2214.606533 meters looking forward 200.000000 meters along route # Maximum depth: 2226.620955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.606533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951356; longitude = -129.093680; captureRadius = 10; duration = 110; initialDepth = 2144.461393; finalDepth = 2134.606533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.3593000000001 # Actual altitude: 89.3593000000001 # Commanded vehicle depth:2134.606533 # Seafloor depth:-2223.831757 # 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 110.684735 meters # Minimum depth: 2224.461393 meters looking forward 200.000000 meters along route # Maximum depth: 2227.319083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.461393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950457; longitude = -129.094212; captureRadius = 10; duration = 110; initialDepth = 2142.075036; finalDepth = 2144.461393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.2252239999998 # Actual altitude: 89.2252239999998 # Commanded vehicle depth:2144.461393 # Seafloor depth:-2226.943720 # 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 110.684735 meters # Minimum depth: 2222.075036 meters looking forward 200.000000 meters along route # Maximum depth: 2227.319083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.075036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949557; longitude = -129.094743; captureRadius = 10; duration = 110; initialDepth = 2138.775203; finalDepth = 2142.075036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4217059999996 # Actual altitude: 83.4217059999996 # Commanded vehicle depth:2142.075036 # Seafloor depth:-2225.496742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.69; 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 = 333.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 110.684735 meters # Minimum depth: 2218.775203 meters looking forward 200.000000 meters along route # Maximum depth: 2225.218202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2138.775203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948658; longitude = -129.095275; captureRadius = 10; duration = 110; initialDepth = 2136.210513; finalDepth = 2138.775203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4217059999996 # Actual altitude: 83.4217059999996 # Commanded vehicle depth:2138.775203 # Seafloor depth:-2221.933044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.69; 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 = 333.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 110.684735 meters # Minimum depth: 2216.210513 meters looking forward 200.000000 meters along route # Maximum depth: 2221.792160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2136.210513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947815; longitude = -129.095773; captureRadius = 10; duration = 110; initialDepth = 2134.299308; finalDepth = 2136.210513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1578409999997 # Actual altitude: 83.1578409999997 # Commanded vehicle depth:2136.210513 # Seafloor depth:-2218.554782 # 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 22 # Segment length 110.684735 meters # Minimum depth: 2214.299308 meters looking forward 200.000000 meters along route # Maximum depth: 2217.612419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.299308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946949; longitude = -129.096285; captureRadius = 10; duration = 110; initialDepth = 2130.785715; finalDepth = 2134.299308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7233729999998 # Actual altitude: 82.7233729999998 # Commanded vehicle depth:2134.299308 # Seafloor depth:-2217.022681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.89; 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 = 330.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 110.684735 meters # Minimum depth: 2210.785715 meters looking forward 200.000000 meters along route # Maximum depth: 2217.403132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.785715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946080; longitude = -129.096799; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2116.379621; finalDepth = 2130.785715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3194490000001 # Actual altitude: 83.3194490000001 # Commanded vehicle depth:2130.785715 # Seafloor depth:-2214.105164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.28; 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 = 333.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 110.684735 meters # Minimum depth: 2196.379621 meters looking forward 200.000000 meters along route # Maximum depth: 2215.266812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.379621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945510; longitude = -129.096757; captureRadius = 10; duration = 110; initialDepth = 2105.047238; finalDepth = 2116.379621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5311309999997 # Actual altitude: 93.5311309999997 # Commanded vehicle depth:2116.379621 # Seafloor depth:-2209.910752 # 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 = 18.71; 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 21 # Segment length 110.684735 meters # Minimum depth: 2185.047238 meters looking forward 200.000000 meters along route # Maximum depth: 2208.877811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.047238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944611; longitude = -129.096690; captureRadius = 10; duration = 110; initialDepth = 2105.047238; finalDepth = 2105.047238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5311309999997 # Actual altitude: 93.5311309999997 # Commanded vehicle depth:2105.047238 # Seafloor depth:-2194.496495 # 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 = 18.71; 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 to get to end of line 20 # Segment length 110.684735 meters # Minimum depth: 2185.047238 meters looking forward 200.000000 meters along route # Maximum depth: 2207.570215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.047238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943681; longitude = -129.096621; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2105.047238; finalDepth = 2105.047238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4492569999998 # Actual altitude: 89.4492569999998 # Commanded vehicle depth:2105.047238 # Seafloor depth:-2185.900757 # 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 = 17.89; 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 110.684735 meters # Minimum depth: 2185.047238 meters looking forward 200.000000 meters along route # Maximum depth: 2192.593907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.047238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943621; longitude = -129.096656; captureRadius = 10; duration = 110; initialDepth = 2108.661857; finalDepth = 2105.047238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.289381 # Actual altitude: 81.289381 # Commanded vehicle depth:2105.047238 # Seafloor depth:-2186.336619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.16; 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 = 325.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2188.661857 meters looking forward 200.000000 meters along route # Maximum depth: 2201.522871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2108.661857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.097182; captureRadius = 10; duration = 110; initialDepth = 2115.240688; finalDepth = 2108.661857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6796589999999 # Actual altitude: 84.6796589999999 # Commanded vehicle depth:2108.661857 # Seafloor depth:-2193.341516 # 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 during line 20 # Segment length 110.684735 meters # Minimum depth: 2195.240688 meters looking forward 200.000000 meters along route # Maximum depth: 2207.839538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2115.240688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941823; longitude = -129.097709; captureRadius = 10; duration = 110; initialDepth = 2122.145320; finalDepth = 2115.240688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4689040000003 # Actual altitude: 86.4689040000003 # Commanded vehicle depth:2115.240688 # Seafloor depth:-2201.709592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.88; 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 = 345.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2202.145320 meters looking forward 200.000000 meters along route # Maximum depth: 2209.156730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.145320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940923; longitude = -129.098235; captureRadius = 10; duration = 110; initialDepth = 2124.836515; finalDepth = 2122.145320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.507376 # Actual altitude: 86.507376 # Commanded vehicle depth:2122.14532 # Seafloor depth:-2208.652696 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2204.836515 meters looking forward 200.000000 meters along route # Maximum depth: 2209.156730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.836515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940024; longitude = -129.098761; captureRadius = 10; duration = 110; initialDepth = 2124.239440; finalDepth = 2124.836515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.507376 # Actual altitude: 86.507376 # Commanded vehicle depth:2124.836515 # Seafloor depth:-2207.501602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2204.239440 meters looking forward 200.000000 meters along route # Maximum depth: 2208.254393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.239440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939124; longitude = -129.099288; captureRadius = 10; duration = 110; initialDepth = 2124.294739; finalDepth = 2124.239440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6650869999999 # Actual altitude: 82.6650869999999 # Commanded vehicle depth:2124.23944 # Seafloor depth:-2204.445621 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.66; 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 = 330.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2204.294739 meters looking forward 200.000000 meters along route # Maximum depth: 2207.307363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.294739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938225; longitude = -129.099814; captureRadius = 10; duration = 110; initialDepth = 2124.294739; finalDepth = 2124.294739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.936721 # Actual altitude: 80.936721 # Commanded vehicle depth:2124.294739 # Seafloor depth:-2205.231460 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.75; 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 = 323.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2204.294739 meters looking forward 200.000000 meters along route # Maximum depth: 2213.834457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.294739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937354; longitude = -129.100323; captureRadius = 10; duration = 110; initialDepth = 2128.891918; finalDepth = 2124.294739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.566832 # Actual altitude: 83.566832 # Commanded vehicle depth:2124.294739 # Seafloor depth:-2207.861571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.27; 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 = 334.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2208.891918 meters looking forward 200.000000 meters along route # Maximum depth: 2224.870952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2128.891918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936516; longitude = -129.100814; captureRadius = 10; duration = 110; initialDepth = 2136.565639; finalDepth = 2128.891918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7862410000002 # Actual altitude: 85.7862410000002 # Commanded vehicle depth:2128.891918 # Seafloor depth:-2214.678159 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.14; 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 = 343.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2216.565639 meters looking forward 200.000000 meters along route # Maximum depth: 2232.912402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2136.565639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935617; longitude = -129.101340; captureRadius = 10; duration = 110; initialDepth = 2147.996646; finalDepth = 2136.565639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.3505690000002 # Actual altitude: 89.3505690000002 # Commanded vehicle depth:2136.565639 # Seafloor depth:-2225.916208 # 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 20 # Segment length 110.684735 meters # Minimum depth: 2227.996646 meters looking forward 200.000000 meters along route # Maximum depth: 2243.421911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2147.996646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934717; longitude = -129.101866; captureRadius = 10; duration = 110; initialDepth = 2157.684123; finalDepth = 2147.996646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.3505690000002 # Actual altitude: 89.3505690000002 # Commanded vehicle depth:2147.996646 # Seafloor depth:-2234.469111 # 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 20 # Segment length 110.684735 meters # Minimum depth: 2237.684123 meters looking forward 200.000000 meters along route # Maximum depth: 2244.338168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.684123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933818; longitude = -129.102393; captureRadius = 10; duration = 110; initialDepth = 2163.009387; finalDepth = 2157.684123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4724649999998 # Actual altitude: 86.4724649999998 # Commanded vehicle depth:2157.684123 # Seafloor depth:-2243.888216 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.89; 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 = 345.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2243.009387 meters looking forward 200.000000 meters along route # Maximum depth: 2246.186652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.009387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932918; longitude = -129.102919; captureRadius = 10; duration = 110; initialDepth = 2164.145117; finalDepth = 2163.009387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2040929999998 # Actual altitude: 86.2040929999998 # Commanded vehicle depth:2163.009387 # Seafloor depth:-2243.787032 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.82; 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 = 344.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2244.145117 meters looking forward 200.000000 meters along route # Maximum depth: 2249.313553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.145117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932019; longitude = -129.103445; captureRadius = 10; duration = 110; initialDepth = 2166.685247; finalDepth = 2164.145117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2660649999998 # Actual altitude: 82.2660649999998 # Commanded vehicle depth:2164.145117 # Seafloor depth:-2246.411182 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 329.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.684735 meters # Minimum depth: 2246.685247 meters looking forward 200.000000 meters along route # Maximum depth: 2252.879249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.685247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931179; longitude = -129.103937; captureRadius = 10; duration = 110; initialDepth = 2167.642033; finalDepth = 2166.685247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7429780000002 # Actual altitude: 82.7429780000002 # Commanded vehicle depth:2166.685247 # Seafloor depth:-2249.428225 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 110.684735 meters # Minimum depth: 2247.642033 meters looking forward 200.000000 meters along route # Maximum depth: 2253.720086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2167.642033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930340; longitude = -129.104428; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2166.186170; finalDepth = 2167.642033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2430380000001 # Actual altitude: 85.2430380000001 # Commanded vehicle depth:2167.642033 # Seafloor depth:-2252.885071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.97; 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 = 340.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 110.684735 meters # Minimum depth: 2246.186170 meters looking forward 200.000000 meters along route # Maximum depth: 2253.721606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.186170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930040; longitude = -129.104185; captureRadius = 10; duration = 110; initialDepth = 2158.069152; finalDepth = 2166.186170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5354360000001 # Actual altitude: 87.5354360000001 # Commanded vehicle depth:2166.18617 # Seafloor depth:-2253.721606 # 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 110.684735 meters # Minimum depth: 2238.069152 meters looking forward 200.000000 meters along route # Maximum depth: 2253.598751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2158.069152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929231; longitude = -129.103528; captureRadius = 10; duration = 110; initialDepth = 2157.465116; finalDepth = 2158.069152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 87.9554189999999 # Actual altitude: 87.9554189999999 # Commanded vehicle depth:2158.069152 # Seafloor depth:-2246.024571 # 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 110.684735 meters # Minimum depth: 2237.465116 meters looking forward 200.000000 meters along route # Maximum depth: 2253.020449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.465116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928361; longitude = -129.102822; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2154.179022; finalDepth = 2157.465116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.9554189999999 # Actual altitude: 87.9554189999999 # Commanded vehicle depth:2157.465116 # Seafloor depth:-2237.729431 # 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 110.684735 meters # Minimum depth: 2234.179022 meters looking forward 200.000000 meters along route # Maximum depth: 2241.115001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2154.179022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928527; longitude = -129.102733; captureRadius = 10; duration = 110; initialDepth = 2152.627325; finalDepth = 2154.179022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2274670000002 # Actual altitude: 83.2274670000002 # Commanded vehicle depth:2154.179022 # Seafloor depth:-2237.406489 # 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 110.684735 meters # Minimum depth: 2232.627325 meters looking forward 200.000000 meters along route # Maximum depth: 2237.089531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2152.627325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929411; longitude = -129.102256; captureRadius = 10; duration = 110; initialDepth = 2151.376031; finalDepth = 2152.627325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2274670000002 # Actual altitude: 83.2274670000002 # Commanded vehicle depth:2152.627325 # Seafloor depth:-2234.274772 # 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 110.684735 meters # Minimum depth: 2231.376031 meters looking forward 200.000000 meters along route # Maximum depth: 2234.144825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.376031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930265; longitude = -129.101796; captureRadius = 10; duration = 110; initialDepth = 2144.767531; finalDepth = 2151.376031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6474470000003 # Actual altitude: 81.6474470000003 # Commanded vehicle depth:2151.376031 # Seafloor depth:-2232.490361 # 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 110.684735 meters # Minimum depth: 2224.767531 meters looking forward 200.000000 meters along route # Maximum depth: 2232.206754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.767531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931120; longitude = -129.101335; captureRadius = 10; duration = 110; initialDepth = 2140.693986; finalDepth = 2144.767531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2826319999999 # Actual altitude: 86.2826319999999 # Commanded vehicle depth:2144.767531 # Seafloor depth:-2231.050163 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.13; 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 = 345.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2220.693986 meters looking forward 200.000000 meters along route # Maximum depth: 2230.212968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.693986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932019; longitude = -129.100850; captureRadius = 10; duration = 110; initialDepth = 2137.813096; finalDepth = 2140.693986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2826319999999 # Actual altitude: 86.2826319999999 # Commanded vehicle depth:2140.693986 # Seafloor depth:-2224.599835 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.13; 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 = 345.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2217.813096 meters looking forward 200.000000 meters along route # Maximum depth: 2222.670742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.813096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932918; longitude = -129.100366; captureRadius = 10; duration = 110; initialDepth = 2129.487814; finalDepth = 2137.813096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9058489999998 # Actual altitude: 83.9058489999998 # Commanded vehicle depth:2137.813096 # Seafloor depth:-2221.043992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.62; 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 = 335.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2209.487814 meters looking forward 200.000000 meters along route # Maximum depth: 2220.519982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2129.487814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933818; longitude = -129.099881; captureRadius = 10; duration = 110; initialDepth = 2119.414714; finalDepth = 2129.487814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8664570000001 # Actual altitude: 87.8664570000001 # Commanded vehicle depth:2129.487814 # Seafloor depth:-2217.354271 # 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 18 # Segment length 110.684735 meters # Minimum depth: 2199.414714 meters looking forward 200.000000 meters along route # Maximum depth: 2216.037592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.414714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934735; longitude = -129.099387; captureRadius = 10; duration = 110; initialDepth = 2113.491067; finalDepth = 2119.414714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7666089999998 # Actual altitude: 89.7666089999998 # Commanded vehicle depth:2119.414714 # Seafloor depth:-2209.181323 # 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 = 17.95; 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 18 # Segment length 110.684735 meters # Minimum depth: 2193.491067 meters looking forward 200.000000 meters along route # Maximum depth: 2208.007262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.491067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935617; longitude = -129.098911; captureRadius = 10; duration = 110; initialDepth = 2107.602355; finalDepth = 2113.491067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7666089999998 # Actual altitude: 89.7666089999998 # Commanded vehicle depth:2113.491067 # Seafloor depth:-2199.047052 # 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 = 17.95; 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 18 # Segment length 110.684735 meters # Minimum depth: 2187.602355 meters looking forward 200.000000 meters along route # Maximum depth: 2198.610240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2107.602355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936473; longitude = -129.098450; captureRadius = 10; duration = 110; initialDepth = 2103.028126; finalDepth = 2107.602355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5967799999999 # Actual altitude: 85.5967799999999 # Commanded vehicle depth:2107.602355 # Seafloor depth:-2193.199135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.39; 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 = 342.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2183.028126 meters looking forward 200.000000 meters along route # Maximum depth: 2192.337633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.028126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937326; longitude = -129.097990; captureRadius = 10; duration = 110; initialDepth = 2102.057266; finalDepth = 2103.028126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5967799999999 # Actual altitude: 85.5967799999999 # Commanded vehicle depth:2103.028126 # Seafloor depth:-2187.295884 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.39; 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 = 342.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2182.057266 meters looking forward 200.000000 meters along route # Maximum depth: 2187.151811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.057266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938225; longitude = -129.097505; captureRadius = 10; duration = 110; initialDepth = 2098.907031; finalDepth = 2102.057266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.267758 # Actual altitude: 84.267758 # Commanded vehicle depth:2102.057266 # Seafloor depth:-2182.955019 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.07; 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 = 337.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2178.907031 meters looking forward 200.000000 meters along route # Maximum depth: 2183.328471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.907031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939124; longitude = -129.097021; captureRadius = 10; duration = 110; initialDepth = 2098.907031; finalDepth = 2098.907031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7184299999999 # Actual altitude: 82.7184299999999 # Commanded vehicle depth:2098.907031 # Seafloor depth:-2181.625461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.87; 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 = 330.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2178.907031 meters looking forward 200.000000 meters along route # Maximum depth: 2181.616896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2098.907031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940024; longitude = -129.096536; captureRadius = 10; duration = 110; initialDepth = 2099.355958; finalDepth = 2098.907031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7184299999999 # Actual altitude: 82.7184299999999 # Commanded vehicle depth:2098.907031 # Seafloor depth:-2179.018680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.87; 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 = 330.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2179.355958 meters looking forward 200.000000 meters along route # Maximum depth: 2181.712390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2099.355958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940942; longitude = -129.096041; captureRadius = 10; duration = 110; initialDepth = 2096.109919; finalDepth = 2099.355958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2762929999999 # Actual altitude: 82.2762929999999 # Commanded vehicle depth:2099.355958 # Seafloor depth:-2181.632251 # 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 18 # Segment length 110.684735 meters # Minimum depth: 2176.109919 meters looking forward 200.000000 meters along route # Maximum depth: 2181.712390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.109919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941823; longitude = -129.095566; captureRadius = 10; duration = 110; initialDepth = 2093.808821; finalDepth = 2096.109919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1345240000001 # Actual altitude: 83.1345240000001 # Commanded vehicle depth:2096.109919 # Seafloor depth:-2179.244443 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.54; 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 = 332.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.684735 meters # Minimum depth: 2173.808821 meters looking forward 200.000000 meters along route # Maximum depth: 2178.499064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2093.808821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942722; longitude = -129.095081; captureRadius = 10; duration = 110; initialDepth = 2088.043335; finalDepth = 2093.808821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1345240000001 # Actual altitude: 83.1345240000001 # Commanded vehicle depth:2093.808821 # Seafloor depth:-2176.587524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.54; 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 = 332.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 110.684735 meters # Minimum depth: 2168.043335 meters looking forward 200.000000 meters along route # Maximum depth: 2176.611330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2088.043335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943591; longitude = -129.094613; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2072.213342; finalDepth = 2088.043335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6922610000001 # Actual altitude: 85.6922610000001 # Commanded vehicle depth:2088.043335 # Seafloor depth:-2173.735596 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.77; 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 = 342.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 110.684735 meters # Minimum depth: 2152.213342 meters looking forward 200.000000 meters along route # Maximum depth: 2175.104388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.213342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943711; longitude = -129.094148; captureRadius = 10; duration = 110; initialDepth = 2063.705079; finalDepth = 2072.213342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5958439999999 # Actual altitude: 95.5958439999999 # Commanded vehicle depth:2072.213342 # Seafloor depth:-2167.809186 # 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 = 19.12; 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 110.684735 meters # Minimum depth: 2143.705079 meters looking forward 200.000000 meters along route # Maximum depth: 2166.398424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.705079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944041; longitude = -129.092873; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2053.482432; finalDepth = 2063.705079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5958439999999 # Actual altitude: 95.5958439999999 # Commanded vehicle depth:2063.705079 # Seafloor depth:-2151.452271 # 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 = 19.12; 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 110.684735 meters # Minimum depth: 2133.482432 meters looking forward 200.000000 meters along route # Maximum depth: 2150.603026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.482432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944881; longitude = -129.092425; captureRadius = 10; duration = 110; initialDepth = 2045.223660; finalDepth = 2053.482432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.1754090000004 # Actual altitude: 90.1754090000004 # Commanded vehicle depth:2053.482432 # Seafloor depth:-2143.657841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.04; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 110.684735 meters # Minimum depth: 2125.223660 meters looking forward 200.000000 meters along route # Maximum depth: 2142.027096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.223660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945780; longitude = -129.091945; captureRadius = 10; duration = 110; initialDepth = 2044.721981; finalDepth = 2045.223660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.1754090000004 # Actual altitude: 90.1754090000004 # Commanded vehicle depth:2045.22366 # Seafloor depth:-2132.090861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.04; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 110.684735 meters # Minimum depth: 2124.721981 meters looking forward 200.000000 meters along route # Maximum depth: 2131.171425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.721981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946679; longitude = -129.091464; captureRadius = 10; duration = 110; initialDepth = 2044.721981; finalDepth = 2044.721981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.867201 # Actual altitude: 86.867201 # Commanded vehicle depth:2044.721981 # Seafloor depth:-2124.979976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.47; 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 = 347.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 110.684735 meters # Minimum depth: 2124.721981 meters looking forward 200.000000 meters along route # Maximum depth: 2126.518803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.721981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947549; longitude = -129.091000; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2043.304998; finalDepth = 2044.721981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.318546 # Actual altitude: 81.318546 # Commanded vehicle depth:2044.721981 # Seafloor depth:-2126.040527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.27; 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 = 325.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.684735 meters # Minimum depth: 2123.304998 meters looking forward 200.000000 meters along route # Maximum depth: 2126.518803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.304998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948208; longitude = -129.090842; captureRadius = 10; duration = 110; initialDepth = 2043.304998; finalDepth = 2043.304998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.318546 # Actual altitude: 81.318546 # Commanded vehicle depth:2043.304998 # Seafloor depth:-2124.200222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.27; 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 = 325.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.684735 meters # Minimum depth: 2123.304998 meters looking forward 200.000000 meters along route # Maximum depth: 2130.875400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.304998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949108; longitude = -129.090627; captureRadius = 10; duration = 110; initialDepth = 2045.848277; finalDepth = 2043.304998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.1384079999998 # Actual altitude: 82.1384079999998 # Commanded vehicle depth:2043.304998 # Seafloor depth:-2125.443406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.55; 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 = 328.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.684735 meters # Minimum depth: 2125.848277 meters looking forward 200.000000 meters along route # Maximum depth: 2138.756003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.848277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950007; longitude = -129.090412; captureRadius = 10; duration = 110; initialDepth = 2052.305327; finalDepth = 2045.848277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3567429999998 # Actual altitude: 85.3567429999998 # Commanded vehicle depth:2045.848277 # Seafloor depth:-2131.205020 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.43; 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 = 341.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.684735 meters # Minimum depth: 2132.305327 meters looking forward 200.000000 meters along route # Maximum depth: 2139.868761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.305327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950907; longitude = -129.090196; captureRadius = 10; duration = 110; initialDepth = 2054.627718; finalDepth = 2052.305327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7789379999999 # Actual altitude: 86.7789379999999 # Commanded vehicle depth:2052.305327 # Seafloor depth:-2139.084265 # 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 110.684735 meters # Minimum depth: 2134.627718 meters looking forward 200.000000 meters along route # Maximum depth: 2139.868761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.627718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951836; longitude = -129.089974; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2052.256265; finalDepth = 2054.627718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7789379999999 # Actual altitude: 86.7789379999999 # Commanded vehicle depth:2054.627718 # Seafloor depth:-2137.806885 # 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 110.684735 meters # Minimum depth: 2132.256265 meters looking forward 200.000000 meters along route # Maximum depth: 2138.973014 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.256265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952467; longitude = -129.089617; captureRadius = 10; duration = 110; initialDepth = 2052.256265; finalDepth = 2052.256265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1791669999998 # Actual altitude: 83.1791669999998 # Commanded vehicle depth:2052.256265 # Seafloor depth:-2134.496977 # 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 14 # Segment length 110.684735 meters # Minimum depth: 2132.256265 meters looking forward 200.000000 meters along route # Maximum depth: 2138.981358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.256265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953335; longitude = -129.089125; captureRadius = 10; duration = 110; initialDepth = 2053.167338; finalDepth = 2052.256265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2407119999998 # Actual altitude: 82.2407119999998 # Commanded vehicle depth:2052.256265 # Seafloor depth:-2132.403650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 328.96; 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 = 328.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2133.167338 meters looking forward 200.000000 meters along route # Maximum depth: 2143.783849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.167338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954234; longitude = -129.088615; captureRadius = 10; duration = 110; initialDepth = 2051.908361; finalDepth = 2053.167338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.774895 # Actual altitude: 86.774895 # Commanded vehicle depth:2053.167338 # Seafloor depth:-2139.942233 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 347.10; 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 = 347.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2131.908361 meters looking forward 200.000000 meters along route # Maximum depth: 2143.783849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.908361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955134; longitude = -129.088106; captureRadius = 10; duration = 110; initialDepth = 2043.027685; finalDepth = 2051.908361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4242720000002 # Actual altitude: 91.4242720000002 # Commanded vehicle depth:2051.908361 # Seafloor depth:-2143.332633 # 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 110.684735 meters # Minimum depth: 2123.027685 meters looking forward 200.000000 meters along route # Maximum depth: 2141.853757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.027685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956033; longitude = -129.087596; captureRadius = 10; duration = 110; initialDepth = 2039.651518; finalDepth = 2043.027685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4242720000002 # Actual altitude: 91.4242720000002 # Commanded vehicle depth:2043.027685 # Seafloor depth:-2131.580001 # 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 110.684735 meters # Minimum depth: 2119.651518 meters looking forward 200.000000 meters along route # Maximum depth: 2129.480068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.651518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956956; longitude = -129.087074; captureRadius = 10; duration = 110; initialDepth = 2039.651518; finalDepth = 2039.651518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.5523159999998 # Actual altitude: 88.5523159999998 # Commanded vehicle depth:2039.651518 # Seafloor depth:-2122.860234 # 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 110.684735 meters # Minimum depth: 2119.651518 meters looking forward 200.000000 meters along route # Maximum depth: 2126.018947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.651518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957832; longitude = -129.086577; captureRadius = 10; duration = 110; initialDepth = 2042.379113; finalDepth = 2039.651518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2087160000001 # Actual altitude: 83.2087160000001 # Commanded vehicle depth:2039.651518 # Seafloor depth:-2120.780097 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.83; 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 = 332.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2122.379113 meters looking forward 200.000000 meters along route # Maximum depth: 2126.131865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.379113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958731; longitude = -129.086068; captureRadius = 10; duration = 110; initialDepth = 2042.188550; finalDepth = 2042.379113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7527519999999 # Actual altitude: 83.7527519999999 # Commanded vehicle depth:2042.379113 # Seafloor depth:-2126.131865 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.01; 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 = 335.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2122.188550 meters looking forward 200.000000 meters along route # Maximum depth: 2125.968184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.188550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959631; longitude = -129.085558; captureRadius = 10; duration = 110; initialDepth = 2040.374092; finalDepth = 2042.188550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7527519999999 # Actual altitude: 83.7527519999999 # Commanded vehicle depth:2042.18855 # Seafloor depth:-2124.451855 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.01; 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 = 335.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2120.374092 meters looking forward 200.000000 meters along route # Maximum depth: 2124.186943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.374092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.085049; captureRadius = 10; duration = 110; initialDepth = 2040.085787; finalDepth = 2040.374092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2633049999999 # Actual altitude: 82.2633049999999 # Commanded vehicle depth:2040.374092 # Seafloor depth:-2122.066356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.05; 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 = 329.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2120.085787 meters looking forward 200.000000 meters along route # Maximum depth: 2121.433639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.085787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961444; longitude = -129.084531; captureRadius = 10; duration = 110; initialDepth = 2035.695071; finalDepth = 2040.085787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6922639999998 # Actual altitude: 81.6922639999998 # Commanded vehicle depth:2040.085787 # Seafloor depth:-2120.355381 # 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 110.684735 meters # Minimum depth: 2115.695071 meters looking forward 200.000000 meters along route # Maximum depth: 2120.417704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.695071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962329; longitude = -129.084030; captureRadius = 10; duration = 110; initialDepth = 2034.680787; finalDepth = 2035.695071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.263344 # Actual altitude: 84.263344 # Commanded vehicle depth:2035.695071 # Seafloor depth:-2119.958415 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.05; 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 = 337.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2114.680787 meters looking forward 200.000000 meters along route # Maximum depth: 2119.250953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.680787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963228; longitude = -129.083520; captureRadius = 10; duration = 110; initialDepth = 2032.589026; finalDepth = 2034.680787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.263344 # Actual altitude: 84.263344 # Commanded vehicle depth:2034.680787 # Seafloor depth:-2115.589400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.05; 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 = 337.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2112.589026 meters looking forward 200.000000 meters along route # Maximum depth: 2115.587654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.589026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964128; longitude = -129.083011; captureRadius = 10; duration = 110; initialDepth = 2028.599410; finalDepth = 2032.589026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.911306 # Actual altitude: 81.911306 # Commanded vehicle depth:2032.589026 # Seafloor depth:-2114.500332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.65; 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 = 327.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.684735 meters # Minimum depth: 2108.599410 meters looking forward 200.000000 meters along route # Maximum depth: 2114.391667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.599410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964988; longitude = -129.082523; captureRadius = 10; duration = 110; initialDepth = 2027.788253; finalDepth = 2028.599410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7214960000001 # Actual altitude: 83.7214960000001 # Commanded vehicle depth:2028.59941 # Seafloor depth:-2112.320906 # 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 110.684735 meters # Minimum depth: 2107.788253 meters looking forward 200.000000 meters along route # Maximum depth: 2111.639496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.788253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965837; longitude = -129.082043; captureRadius = 10; duration = 110; initialDepth = 2025.853516; finalDepth = 2027.788253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7214960000001 # Actual altitude: 83.7214960000001 # Commanded vehicle depth:2027.788253 # Seafloor depth:-2108.359194 # 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 110.684735 meters # Minimum depth: 2105.853516 meters looking forward 200.000000 meters along route # Maximum depth: 2108.452681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.853516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966736; longitude = -129.081533; captureRadius = 10; duration = 110; initialDepth = 2019.339887; finalDepth = 2025.853516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7170659999997 # Actual altitude: 81.7170659999997 # Commanded vehicle depth:2025.853516 # Seafloor depth:-2107.570582 # 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 110.684735 meters # Minimum depth: 2099.339887 meters looking forward 200.000000 meters along route # Maximum depth: 2107.330054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.339887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967665; longitude = -129.081007; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2019.339887; finalDepth = 2019.339887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1364920000001 # Actual altitude: 86.1364920000001 # Commanded vehicle depth:2019.339887 # Seafloor depth:-2105.476379 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 344.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.684735 meters # Minimum depth: 2099.339887 meters looking forward 200.000000 meters along route # Maximum depth: 2102.940870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.339887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967361; longitude = -129.079713; captureRadius = 10; duration = 110; initialDepth = 2019.462833; finalDepth = 2019.339887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 86.1364920000001 # Actual altitude: 86.1364920000001 # Commanded vehicle depth:2019.339887 # Seafloor depth:-2099.610829 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 344.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 344.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 110.684735 meters # Minimum depth: 2099.462833 meters looking forward 200.000000 meters along route # Maximum depth: 2101.834353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.462833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967036; longitude = -129.078330; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2019.623657; finalDepth = 2019.462833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2709420000001 # Actual altitude: 80.2709420000001 # Commanded vehicle depth:2019.462833 # Seafloor depth:-2099.623657 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.08; 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 = 321.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2099.623657 meters looking forward 200.000000 meters along route # Maximum depth: 2106.315277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.623657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966376; longitude = -129.078717; captureRadius = 10; duration = 110; initialDepth = 2022.806219; finalDepth = 2019.623657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5183389999997 # Actual altitude: 82.5183389999997 # Commanded vehicle depth:2019.623657 # Seafloor depth:-2102.141996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.07; 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 = 330.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2102.806219 meters looking forward 200.000000 meters along route # Maximum depth: 2110.753977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.806219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965477; longitude = -129.079246; captureRadius = 10; duration = 110; initialDepth = 2027.673923; finalDepth = 2022.806219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9327589999998 # Actual altitude: 83.9327589999998 # Commanded vehicle depth:2022.806219 # Seafloor depth:-2106.738978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.73; 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 = 335.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2107.673923 meters looking forward 200.000000 meters along route # Maximum depth: 2113.662554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.673923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964577; longitude = -129.079774; captureRadius = 10; duration = 110; initialDepth = 2032.465631; finalDepth = 2027.673923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9327589999998 # Actual altitude: 83.9327589999998 # Commanded vehicle depth:2027.673923 # Seafloor depth:-2111.262444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.73; 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 = 335.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2112.465631 meters looking forward 200.000000 meters along route # Maximum depth: 2113.662554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.465631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963678; longitude = -129.080302; captureRadius = 10; duration = 110; initialDepth = 2031.430391; finalDepth = 2032.465631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.5885210000001 # Actual altitude: 83.5885210000001 # Commanded vehicle depth:2032.465631 # Seafloor depth:-2112.942169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.35; 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 = 334.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2111.430391 meters looking forward 200.000000 meters along route # Maximum depth: 2113.154403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.430391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.080830; captureRadius = 10; duration = 110; initialDepth = 2031.430391; finalDepth = 2031.430391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.132106 # Actual altitude: 81.132106 # Commanded vehicle depth:2031.430391 # Seafloor depth:-2112.562497 # 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 110.684735 meters # Minimum depth: 2111.430391 meters looking forward 200.000000 meters along route # Maximum depth: 2113.030600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.430391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.081358; captureRadius = 10; duration = 110; initialDepth = 2029.739024; finalDepth = 2031.430391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.132106 # Actual altitude: 81.132106 # Commanded vehicle depth:2031.430391 # Seafloor depth:-2112.352609 # 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 110.684735 meters # Minimum depth: 2109.739024 meters looking forward 200.000000 meters along route # Maximum depth: 2113.030600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.739024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960980; longitude = -129.081886; captureRadius = 10; duration = 110; initialDepth = 2028.662197; finalDepth = 2029.739024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.311631 # Actual altitude: 82.311631 # Commanded vehicle depth:2029.739024 # Seafloor depth:-2112.050655 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.25; 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 = 329.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2108.662197 meters looking forward 200.000000 meters along route # Maximum depth: 2111.890630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.662197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960080; longitude = -129.082414; captureRadius = 10; duration = 110; initialDepth = 2028.662197; finalDepth = 2028.662197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.311631 # Actual altitude: 82.311631 # Commanded vehicle depth:2028.662197 # Seafloor depth:-2109.596148 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.25; 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 = 329.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2108.662197 meters looking forward 200.000000 meters along route # Maximum depth: 2110.259359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.662197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959211; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2028.789009; finalDepth = 2028.662197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1278899999998 # Actual altitude: 81.1278899999998 # Commanded vehicle depth:2028.662197 # Seafloor depth:-2109.790087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.51; 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 = 324.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2108.789009 meters looking forward 200.000000 meters along route # Maximum depth: 2110.259359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.789009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958372; longitude = -129.083418; captureRadius = 10; duration = 110; initialDepth = 2020.738803; finalDepth = 2028.789009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1278899999998 # Actual altitude: 81.1278899999998 # Commanded vehicle depth:2028.789009 # Seafloor depth:-2109.771559 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.51; 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 = 324.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2100.738803 meters looking forward 200.000000 meters along route # Maximum depth: 2109.637273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.738803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.083946; captureRadius = 10; duration = 110; initialDepth = 2015.771040; finalDepth = 2020.738803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5138059999999 # Actual altitude: 87.5138059999999 # Commanded vehicle depth:2020.738803 # Seafloor depth:-2108.252609 # 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 110.684735 meters # Minimum depth: 2095.771040 meters looking forward 200.000000 meters along route # Maximum depth: 2106.829594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.771040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.084474; captureRadius = 10; duration = 110; initialDepth = 2015.771040; finalDepth = 2015.771040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5138059999999 # Actual altitude: 87.5138059999999 # Commanded vehicle depth:2015.77104 # Seafloor depth:-2100.079850 # 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 110.684735 meters # Minimum depth: 2095.771040 meters looking forward 200.000000 meters along route # Maximum depth: 2100.538678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.771040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.085002; captureRadius = 10; duration = 110; initialDepth = 2016.253389; finalDepth = 2015.771040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.30881 # Actual altitude: 84.30881 # Commanded vehicle depth:2015.77104 # Seafloor depth:-2095.801375 # 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 110.684735 meters # Minimum depth: 2096.253389 meters looking forward 200.000000 meters along route # Maximum depth: 2105.060243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.253389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.085530; captureRadius = 10; duration = 110; initialDepth = 2022.881996; finalDepth = 2016.253389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1015090000001 # Actual altitude: 85.1015090000001 # Commanded vehicle depth:2016.253389 # Seafloor depth:-2101.354898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.41; 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 = 340.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2102.881996 meters looking forward 200.000000 meters along route # Maximum depth: 2105.060243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.881996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953875; longitude = -129.086058; captureRadius = 10; duration = 110; initialDepth = 2023.423145; finalDepth = 2022.881996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.1015090000001 # Actual altitude: 85.1015090000001 # Commanded vehicle depth:2022.881996 # Seafloor depth:-2104.713513 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.41; 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 = 340.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2103.423145 meters looking forward 200.000000 meters along route # Maximum depth: 2111.230821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.423145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952975; longitude = -129.086587; captureRadius = 10; duration = 110; initialDepth = 2025.993214; finalDepth = 2023.423145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.8315170000001 # Actual altitude: 81.8315170000001 # Commanded vehicle depth:2023.423145 # Seafloor depth:-2104.813050 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.33; 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 = 327.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2105.993214 meters looking forward 200.000000 meters along route # Maximum depth: 2115.956460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.993214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952076; longitude = -129.087115; captureRadius = 10; duration = 110; initialDepth = 2032.090478; finalDepth = 2025.993214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5195049999998 # Actual altitude: 85.5195049999998 # Commanded vehicle depth:2025.993214 # Seafloor depth:-2111.512719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.08; 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 = 342.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2112.090478 meters looking forward 200.000000 meters along route # Maximum depth: 2117.544560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.090478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951176; longitude = -129.087643; captureRadius = 10; duration = 110; initialDepth = 2033.659395; finalDepth = 2032.090478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5195049999998 # Actual altitude: 85.5195049999998 # Commanded vehicle depth:2032.090478 # Seafloor depth:-2116.181925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 342.08; 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 = 342.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2113.659395 meters looking forward 200.000000 meters along route # Maximum depth: 2117.544560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.659395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950277; longitude = -129.088171; captureRadius = 10; duration = 110; initialDepth = 2029.297315; finalDepth = 2033.659395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0914469999998 # Actual altitude: 84.0914469999998 # Commanded vehicle depth:2033.659395 # Seafloor depth:-2117.008198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.82; MB_Bottom_Detect_Filter_Max_Range = 336.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2109.297315 meters looking forward 200.000000 meters along route # Maximum depth: 2116.755958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.297315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949410; longitude = -129.088680; captureRadius = 10; duration = 110; initialDepth = 2029.180529; finalDepth = 2029.297315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0127310000003 # Actual altitude: 84.0127310000003 # Commanded vehicle depth:2029.297315 # Seafloor depth:-2113.310046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.05; 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 = 336.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2109.180529 meters looking forward 200.000000 meters along route # Maximum depth: 2112.710853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.180529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.089174; captureRadius = 10; duration = 110; initialDepth = 2029.410138; finalDepth = 2029.180529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0127310000003 # Actual altitude: 84.0127310000003 # Commanded vehicle depth:2029.180529 # Seafloor depth:-2109.243574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.05; 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 = 336.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2109.410138 meters looking forward 200.000000 meters along route # Maximum depth: 2114.519527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.410138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947669; longitude = -129.089703; captureRadius = 10; duration = 110; initialDepth = 2033.709155; finalDepth = 2029.410138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3477979999998 # Actual altitude: 83.3477979999998 # Commanded vehicle depth:2029.410138 # Seafloor depth:-2112.757936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.39; 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 = 333.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2113.709155 meters looking forward 200.000000 meters along route # Maximum depth: 2122.561713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.709155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946769; longitude = -129.090231; captureRadius = 10; duration = 110; initialDepth = 2035.339073; finalDepth = 2033.709155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.3477979999998 # Actual altitude: 83.3477979999998 # Commanded vehicle depth:2033.709155 # Seafloor depth:-2114.761966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.39; 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 = 333.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2115.339073 meters looking forward 200.000000 meters along route # Maximum depth: 2133.303826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2035.339073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945870; longitude = -129.090759; captureRadius = 10; duration = 110; initialDepth = 2045.664393; finalDepth = 2035.339073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.3554329999997 # Actual altitude: 88.3554329999997 # Commanded vehicle depth:2035.339073 # Seafloor depth:-2123.694506 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.67; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2125.664393 meters looking forward 200.000000 meters along route # Maximum depth: 2143.248248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.664393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944970; longitude = -129.091287; captureRadius = 10; duration = 110; initialDepth = 2055.706042; finalDepth = 2045.664393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.4605259999998 # Actual altitude: 88.4605259999998 # Commanded vehicle depth:2045.664393 # Seafloor depth:-2134.124919 # 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 = 17.69; 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 12 # Segment length 110.684735 meters # Minimum depth: 2135.706042 meters looking forward 200.000000 meters along route # Maximum depth: 2143.515885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.706042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944071; longitude = -129.091815; captureRadius = 10; duration = 110; initialDepth = 2062.103340; finalDepth = 2055.706042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.4605259999998 # Actual altitude: 88.4605259999998 # Commanded vehicle depth:2055.706042 # Seafloor depth:-2143.440747 # 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 = 17.69; 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 12 # Segment length 110.684735 meters # Minimum depth: 2142.103340 meters looking forward 200.000000 meters along route # Maximum depth: 2153.358733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.103340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943172; longitude = -129.092343; captureRadius = 10; duration = 110; initialDepth = 2064.274189; finalDepth = 2062.103340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7347050000003 # Actual altitude: 87.7347050000003 # Commanded vehicle depth:2062.10334 # Seafloor depth:-2143.014042 # 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 110.684735 meters # Minimum depth: 2144.274189 meters looking forward 200.000000 meters along route # Maximum depth: 2155.753399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.274189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942272; longitude = -129.092871; captureRadius = 10; duration = 110; initialDepth = 2074.424951; finalDepth = 2064.274189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.512604 # Actual altitude: 89.512604 # Commanded vehicle depth:2064.274189 # Seafloor depth:-2153.786793 # 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 110.684735 meters # Minimum depth: 2154.424951 meters looking forward 200.000000 meters along route # Maximum depth: 2158.468159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.424951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941373; longitude = -129.093400; captureRadius = 10; duration = 110; initialDepth = 2076.063821; finalDepth = 2074.424951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.512604 # Actual altitude: 89.512604 # Commanded vehicle depth:2074.424951 # Seafloor depth:-2155.864892 # 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 110.684735 meters # Minimum depth: 2156.063821 meters looking forward 200.000000 meters along route # Maximum depth: 2158.958932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.063821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940473; longitude = -129.093928; captureRadius = 10; duration = 110; initialDepth = 2078.225313; finalDepth = 2076.063821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2589899999998 # Actual altitude: 82.2589899999998 # Commanded vehicle depth:2076.063821 # Seafloor depth:-2158.322811 # 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 12 # Segment length 110.684735 meters # Minimum depth: 2158.225313 meters looking forward 200.000000 meters along route # Maximum depth: 2160.668316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.225313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939610; longitude = -129.094435; captureRadius = 10; duration = 110; initialDepth = 2078.395449; finalDepth = 2078.225313; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2589899999998 # Actual altitude: 82.2589899999998 # Commanded vehicle depth:2078.225313 # Seafloor depth:-2158.559313 # 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 12 # Segment length 110.684735 meters # Minimum depth: 2158.395449 meters looking forward 200.000000 meters along route # Maximum depth: 2168.816995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.395449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938765; longitude = -129.094931; captureRadius = 10; duration = 110; initialDepth = 2081.897286; finalDepth = 2078.395449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.9477830000001 # Actual altitude: 82.9477830000001 # Commanded vehicle depth:2078.395449 # Seafloor depth:-2161.343232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.79; 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 = 331.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.684735 meters # Minimum depth: 2161.897286 meters looking forward 200.000000 meters along route # Maximum depth: 2180.001801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.897286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937865; longitude = -129.095459; captureRadius = 10; duration = 110; initialDepth = 2090.589327; finalDepth = 2081.897286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8726260000003 # Actual altitude: 87.8726260000003 # Commanded vehicle depth:2081.897286 # Seafloor depth:-2169.769912 # 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 110.684735 meters # Minimum depth: 2170.589327 meters looking forward 200.000000 meters along route # Maximum depth: 2195.105433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.589327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937026; longitude = -129.095952; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2102.635741; finalDepth = 2090.589327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.3984659999996 # Actual altitude: 90.3984659999996 # Commanded vehicle depth:2090.589327 # Seafloor depth:-2180.987793 # 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 = 18.08; 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 11 # Segment length 110.684735 meters # Minimum depth: 2182.635741 meters looking forward 200.000000 meters along route # Maximum depth: 2205.457448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.635741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936216; longitude = -129.096710; captureRadius = 10; duration = 110; initialDepth = 2116.715116; finalDepth = 2102.635741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.0511780000002 # Actual altitude: 93.0511780000002 # Commanded vehicle depth:2102.635741 # Seafloor depth:-2195.686919 # 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 110.684735 meters # Minimum depth: 2196.715116 meters looking forward 200.000000 meters along route # Maximum depth: 2211.962389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.715116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935437; longitude = -129.097438; captureRadius = 10; duration = 110; initialDepth = 2125.806850; finalDepth = 2116.715116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.0511780000002 # Actual altitude: 93.0511780000002 # Commanded vehicle depth:2116.715116 # Seafloor depth:-2205.605312 # 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 110.684735 meters # Minimum depth: 2205.806850 meters looking forward 200.000000 meters along route # Maximum depth: 2217.335406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.806850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934641; longitude = -129.098182; captureRadius = 10; duration = 110; initialDepth = 2131.023876; finalDepth = 2125.806850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8901960000003 # Actual altitude: 88.8901960000003 # Commanded vehicle depth:2125.80685 # Seafloor depth:-2212.859399 # 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 110.684735 meters # Minimum depth: 2211.023876 meters looking forward 200.000000 meters along route # Maximum depth: 2221.426488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2131.023876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933878; longitude = -129.098896; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2137.283140; finalDepth = 2131.023876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.052549 # Actual altitude: 87.052549 # Commanded vehicle depth:2131.023876 # Seafloor depth:-2217.380798 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 348.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.684735 meters # Minimum depth: 2217.283140 meters looking forward 200.000000 meters along route # Maximum depth: 2230.328209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.283140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933188; longitude = -129.099225; captureRadius = 10; duration = 110; initialDepth = 2143.183248; finalDepth = 2137.283140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3569219999999 # Actual altitude: 86.3569219999999 # Commanded vehicle depth:2137.28314 # Seafloor depth:-2222.352220 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.43; 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 = 345.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.684735 meters # Minimum depth: 2223.183248 meters looking forward 200.000000 meters along route # Maximum depth: 2234.502089 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2143.183248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932288; longitude = -129.099654; captureRadius = 10; duration = 110; initialDepth = 2150.819341; finalDepth = 2143.183248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.151265 # Actual altitude: 87.151265 # Commanded vehicle depth:2143.183248 # Seafloor depth:-2230.334513 # 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 110.684735 meters # Minimum depth: 2230.819341 meters looking forward 200.000000 meters along route # Maximum depth: 2236.170047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2150.819341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.100083; captureRadius = 10; duration = 110; initialDepth = 2151.692038; finalDepth = 2150.819341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.151265 # Actual altitude: 87.151265 # Commanded vehicle depth:2150.819341 # Seafloor depth:-2234.668503 # 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 110.684735 meters # Minimum depth: 2231.692038 meters looking forward 200.000000 meters along route # Maximum depth: 2236.170047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.692038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930490; longitude = -129.100512; captureRadius = 10; duration = 110; initialDepth = 2149.548105; finalDepth = 2151.692038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.849162 # Actual altitude: 83.849162 # Commanded vehicle depth:2151.692038 # Seafloor depth:-2234.121029 # 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 10 # Segment length 110.684735 meters # Minimum depth: 2229.548105 meters looking forward 200.000000 meters along route # Maximum depth: 2233.789522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.548105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929591; longitude = -129.100941; captureRadius = 10; duration = 110; initialDepth = 2149.535621; finalDepth = 2149.548105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.4289909999998 # Actual altitude: 82.4289909999998 # Commanded vehicle depth:2149.548105 # Seafloor depth:-2231.180704 # 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 10 # Segment length 110.684735 meters # Minimum depth: 2229.535621 meters looking forward 200.000000 meters along route # Maximum depth: 2230.974456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.535621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928691; longitude = -129.101370; captureRadius = 10; duration = 110; initialDepth = 2149.812750; finalDepth = 2149.535621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.632599 # Actual altitude: 81.632599 # Commanded vehicle depth:2149.535621 # Seafloor depth:-2229.544654 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 326.53; 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 = 326.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.684735 meters # Minimum depth: 2229.812750 meters looking forward 200.000000 meters along route # Maximum depth: 2230.974456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.812750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927792; longitude = -129.101799; captureRadius = 10; duration = 110; initialDepth = 2144.964686; finalDepth = 2149.812750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6310629999998 # Actual altitude: 80.6310629999998 # Commanded vehicle depth:2149.81275 # Seafloor depth:-2230.443813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 322.52; 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 = 322.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 110.684735 meters # Minimum depth: 2224.964686 meters looking forward 200.000000 meters along route # Maximum depth: 2230.915771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2144.964686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926862; longitude = -129.102242; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2125.178496; finalDepth = 2144.964686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.9510850000001 # Actual altitude: 85.9510850000001 # Commanded vehicle depth:2144.964686 # Seafloor depth:-2230.915771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.19; MB_Bottom_Detect_Filter_Max_Range = 343.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.684735 meters # Minimum depth: 2205.178496 meters looking forward 200.000000 meters along route # Maximum depth: 2230.915771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.178496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926609; longitude = -129.101394; captureRadius = 10; duration = 110; initialDepth = 2086.085972; finalDepth = 2125.178496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.4182919999998 # Actual altitude: 99.4182919999998 # Commanded vehicle depth:2125.178496 # Seafloor depth:-2224.596788 # 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 110.684735 meters # Minimum depth: 2166.085972 meters looking forward 200.000000 meters along route # Maximum depth: 2222.331209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.085972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926209; longitude = -129.100056; captureRadius = 10; duration = 110; initialDepth = 2056.473151; finalDepth = 2086.085972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.132092 # Actual altitude: 100 # Commanded vehicle depth:2086.085972 # Seafloor depth:-2202.218064 # 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 110.684735 meters # Minimum depth: 2136.473151 meters looking forward 200.000000 meters along route # Maximum depth: 2196.450545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.473151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925809; longitude = -129.098717; captureRadius = 10; duration = 110; initialDepth = 2054.274020; finalDepth = 2056.473151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 116.132092 # Actual altitude: 100 # Commanded vehicle depth:2056.473151 # Seafloor depth:-2165.536278 # 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 110.684735 meters # Minimum depth: 2134.274020 meters looking forward 200.000000 meters along route # Maximum depth: 2166.085972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.274020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925423; longitude = -129.097424; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2053.958720; finalDepth = 2054.274020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.063127 # Actual altitude: 100 # Commanded vehicle depth:2054.27402 # Seafloor depth:-2137.403503 # 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 110.684735 meters # Minimum depth: 2133.958720 meters looking forward 200.000000 meters along route # Maximum depth: 2137.403503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.958720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926173; longitude = -129.097043; captureRadius = 10; duration = 110; initialDepth = 2053.958720; finalDepth = 2053.958720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1294830000002 # Actual altitude: 83.1294830000002 # Commanded vehicle depth:2053.95872 # Seafloor depth:-2134.140412 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.52; 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 = 332.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.684735 meters # Minimum depth: 2133.958720 meters looking forward 200.000000 meters along route # Maximum depth: 2139.056895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.958720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927094; longitude = -129.096576; captureRadius = 10; duration = 110; initialDepth = 2053.392185; finalDepth = 2053.958720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.5501359999998 # Actual altitude: 82.5501359999998 # Commanded vehicle depth:2053.95872 # Seafloor depth:-2136.508856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 330.20; 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 = 330.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.684735 meters # Minimum depth: 2133.392185 meters looking forward 200.000000 meters along route # Maximum depth: 2139.056895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.392185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927972; longitude = -129.096131; captureRadius = 10; duration = 110; initialDepth = 2041.165988; finalDepth = 2053.392185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7713549999999 # Actual altitude: 83.7713549999999 # Commanded vehicle depth:2053.392185 # Seafloor depth:-2137.163540 # 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 110.684735 meters # Minimum depth: 2121.165988 meters looking forward 200.000000 meters along route # Maximum depth: 2136.561345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.165988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928871; longitude = -129.095674; captureRadius = 10; duration = 110; initialDepth = 2040.873159; finalDepth = 2041.165988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.9302269999998 # Actual altitude: 90.9302269999998 # Commanded vehicle depth:2041.165988 # Seafloor depth:-2132.096215 # 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 110.684735 meters # Minimum depth: 2120.873159 meters looking forward 200.000000 meters along route # Maximum depth: 2131.001081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.873159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929732; longitude = -129.095238; captureRadius = 10; duration = 110; initialDepth = 2040.873159; finalDepth = 2040.873159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.9302269999998 # Actual altitude: 90.9302269999998 # Commanded vehicle depth:2040.873159 # Seafloor depth:-2121.031119 # 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 110.684735 meters # Minimum depth: 2120.873159 meters looking forward 200.000000 meters along route # Maximum depth: 2125.030015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.873159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930610; longitude = -129.094792; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2042.163876; finalDepth = 2040.873159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3579809999997 # Actual altitude: 81.3579809999997 # Commanded vehicle depth:2040.873159 # Seafloor depth:-2122.231140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 325.43; 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 = 325.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.684735 meters # Minimum depth: 2122.163876 meters looking forward 200.000000 meters along route # Maximum depth: 2125.688190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.163876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.094226; captureRadius = 10; duration = 110; initialDepth = 2036.282113; finalDepth = 2042.163876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2194089999998 # Actual altitude: 83.2194089999998 # Commanded vehicle depth:2042.163876 # Seafloor depth:-2125.383285 # 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 110.684735 meters # Minimum depth: 2116.282113 meters looking forward 200.000000 meters along route # Maximum depth: 2125.688190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.282113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932208; longitude = -129.093632; captureRadius = 10; duration = 110; initialDepth = 2031.297689; finalDepth = 2036.282113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2587899999999 # Actual altitude: 87.2587899999999 # Commanded vehicle depth:2036.282113 # Seafloor depth:-2123.540903 # 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 110.684735 meters # Minimum depth: 2111.297689 meters looking forward 200.000000 meters along route # Maximum depth: 2123.292122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.297689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933068; longitude = -129.093007; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2031.214046; finalDepth = 2031.297689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2587899999999 # Actual altitude: 87.2587899999999 # Commanded vehicle depth:2031.297689 # Seafloor depth:-2115.759033 # 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 110.684735 meters # Minimum depth: 2111.214046 meters looking forward 200.000000 meters along route # Maximum depth: 2114.848221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.214046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933998; longitude = -129.093022; captureRadius = 10; duration = 110; initialDepth = 2031.224985; finalDepth = 2031.214046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4613439999998 # Actual altitude: 84.4613439999998 # Commanded vehicle depth:2031.214046 # Seafloor depth:-2111.305439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.85; 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 = 337.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.684735 meters # Minimum depth: 2111.224985 meters looking forward 200.000000 meters along route # Maximum depth: 2127.456790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.224985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934987; longitude = -129.093037; captureRadius = 10; duration = 110; initialDepth = 2032.368166; finalDepth = 2031.224985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4155600000004 # Actual altitude: 84.4155600000004 # Commanded vehicle depth:2031.224985 # Seafloor depth:-2115.640545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.88; MB_Bottom_Detect_Filter_Max_Range = 337.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 110.684735 meters # Minimum depth: 2112.368166 meters looking forward 200.000000 meters along route # Maximum depth: 2130.972561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.368166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935916; longitude = -129.093052; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2040.311942; finalDepth = 2032.368166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.7327249999998 # Actual altitude: 95.7327249999998 # Commanded vehicle depth:2032.368166 # Seafloor depth:-2128.100891 # 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 = 19.15; 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 110.684735 meters # Minimum depth: 2120.311942 meters looking forward 200.000000 meters along route # Maximum depth: 2139.991950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.311942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936246; longitude = -129.092866; captureRadius = 10; duration = 110; initialDepth = 2053.452571; finalDepth = 2040.311942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.7327249999998 # Actual altitude: 95.7327249999998 # Commanded vehicle depth:2040.311942 # Seafloor depth:-2131.932785 # 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 = 19.15; 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 110.684735 meters # Minimum depth: 2133.452571 meters looking forward 200.000000 meters along route # Maximum depth: 2147.719184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.452571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937146; longitude = -129.092359; captureRadius = 10; duration = 110; initialDepth = 2061.929156; finalDepth = 2053.452571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.6208430000001 # Actual altitude: 91.6208430000001 # Commanded vehicle depth:2053.452571 # Seafloor depth:-2140.799551 # 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 = 18.32; 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 110.684735 meters # Minimum depth: 2141.929156 meters looking forward 200.000000 meters along route # Maximum depth: 2147.719184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.929156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938045; longitude = -129.091852; captureRadius = 10; duration = 110; initialDepth = 2063.572066; finalDepth = 2061.929156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.3469800000003 # Actual altitude: 87.3469800000003 # Commanded vehicle depth:2061.929156 # Seafloor depth:-2147.140328 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.39; 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 = 349.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2143.572066 meters looking forward 200.000000 meters along route # Maximum depth: 2155.813990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.572066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938944; longitude = -129.091345; captureRadius = 10; duration = 110; initialDepth = 2070.815235; finalDepth = 2063.572066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2111719999998 # Actual altitude: 85.2111719999998 # Commanded vehicle depth:2063.572066 # Seafloor depth:-2147.324267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.84; 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 = 340.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2150.815235 meters looking forward 200.000000 meters along route # Maximum depth: 2158.879599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2070.815235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939875; longitude = -129.090821; captureRadius = 10; duration = 110; initialDepth = 2073.647113; finalDepth = 2070.815235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7522009999998 # Actual altitude: 83.7522009999998 # Commanded vehicle depth:2070.815235 # Seafloor depth:-2154.235344 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.01; 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 = 335.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2153.647113 meters looking forward 200.000000 meters along route # Maximum depth: 2165.647764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.647113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940743; longitude = -129.090332; captureRadius = 10; duration = 110; initialDepth = 2080.844179; finalDepth = 2073.647113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4536189999999 # Actual altitude: 86.4536189999999 # Commanded vehicle depth:2073.647113 # Seafloor depth:-2160.100732 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2160.844179 meters looking forward 200.000000 meters along route # Maximum depth: 2165.647764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.844179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941643; longitude = -129.089825; captureRadius = 10; duration = 110; initialDepth = 2080.752164; finalDepth = 2080.844179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4536189999999 # Actual altitude: 86.4536189999999 # Commanded vehicle depth:2080.844179 # Seafloor depth:-2164.734994 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2160.752164 meters looking forward 200.000000 meters along route # Maximum depth: 2166.580106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.752164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942487; longitude = -129.089349; captureRadius = 10; duration = 110; initialDepth = 2080.841123; finalDepth = 2080.752164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8908149999997 # Actual altitude: 83.8908149999997 # Commanded vehicle depth:2080.752164 # Seafloor depth:-2160.810544 # 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 110.684735 meters # Minimum depth: 2160.841123 meters looking forward 200.000000 meters along route # Maximum depth: 2169.611084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.841123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943352; longitude = -129.088862; captureRadius = 10; duration = 110; initialDepth = 2074.409003; finalDepth = 2080.841123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.6134050000001 # Actual altitude: 86.6134050000001 # Commanded vehicle depth:2080.841123 # Seafloor depth:-2167.454528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.45; 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 = 346.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2154.409003 meters looking forward 200.000000 meters along route # Maximum depth: 2169.611084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.409003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944251; longitude = -129.088355; captureRadius = 10; duration = 110; initialDepth = 2058.437603; finalDepth = 2074.409003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.1393989999997 # Actual altitude: 94.1393989999997 # Commanded vehicle depth:2074.409003 # Seafloor depth:-2168.548402 # 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 = 18.83; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2138.437603 meters looking forward 200.000000 meters along route # Maximum depth: 2167.879512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.437603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945100; longitude = -129.087877; captureRadius = 10; duration = 110; initialDepth = 2053.272605; finalDepth = 2058.437603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2277520000002 # Actual altitude: 95.2277520000002 # Commanded vehicle depth:2058.437603 # Seafloor depth:-2153.665355 # 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 = 19.05; 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 5 # Segment length 110.684735 meters # Minimum depth: 2133.272605 meters looking forward 200.000000 meters along route # Maximum depth: 2150.890706 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.272605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945960; longitude = -129.087392; captureRadius = 10; duration = 110; initialDepth = 2046.595507; finalDepth = 2053.272605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2277520000002 # Actual altitude: 95.2277520000002 # Commanded vehicle depth:2053.272605 # Seafloor depth:-2137.023890 # 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 = 19.05; 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 5 # Segment length 110.684735 meters # Minimum depth: 2126.595507 meters looking forward 200.000000 meters along route # Maximum depth: 2135.915813 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2046.595507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946859; longitude = -129.086885; captureRadius = 10; duration = 110; initialDepth = 2039.159893; finalDepth = 2046.595507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3150169999999 # Actual altitude: 86.3150169999999 # Commanded vehicle depth:2046.595507 # Seafloor depth:-2132.910524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 345.26; 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 = 345.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2119.159893 meters looking forward 200.000000 meters along route # Maximum depth: 2132.414275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.159893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947712; longitude = -129.086405; captureRadius = 10; duration = 110; initialDepth = 2036.926917; finalDepth = 2039.159893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.06972 # Actual altitude: 87.06972 # Commanded vehicle depth:2039.159893 # Seafloor depth:-2126.229613 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 348.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2116.926917 meters looking forward 200.000000 meters along route # Maximum depth: 2124.983319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2036.926917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.085922; captureRadius = 10; duration = 110; initialDepth = 2032.989254; finalDepth = 2036.926917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.06972 # Actual altitude: 87.06972 # Commanded vehicle depth:2036.926917 # Seafloor depth:-2118.498394 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 348.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 348.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 348.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2112.989254 meters looking forward 200.000000 meters along route # Maximum depth: 2117.889152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.989254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949467; longitude = -129.085415; captureRadius = 10; duration = 110; initialDepth = 2028.829492; finalDepth = 2032.989254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8000919999999 # Actual altitude: 83.8000919999999 # Commanded vehicle depth:2032.989254 # Seafloor depth:-2116.789346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 335.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2108.829492 meters looking forward 200.000000 meters along route # Maximum depth: 2116.546079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.829492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950325; longitude = -129.084932; captureRadius = 10; duration = 110; initialDepth = 2019.827302; finalDepth = 2028.829492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8501760000004 # Actual altitude: 83.8501760000004 # Commanded vehicle depth:2028.829492 # Seafloor depth:-2112.679668 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2099.827302 meters looking forward 200.000000 meters along route # Maximum depth: 2112.021356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.827302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951176; longitude = -129.084452; captureRadius = 10; duration = 110; initialDepth = 2005.241865; finalDepth = 2019.827302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.0678229999999 # Actual altitude: 88.0678229999999 # Commanded vehicle depth:2019.827302 # Seafloor depth:-2107.895125 # 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 = 17.61; 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 5 # Segment length 110.684735 meters # Minimum depth: 2085.241865 meters looking forward 200.000000 meters along route # Maximum depth: 2105.834706 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.241865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952076; longitude = -129.083946; captureRadius = 10; duration = 110; initialDepth = 2005.096372; finalDepth = 2005.241865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.4008039999999 # Actual altitude: 93.4008039999999 # Commanded vehicle depth:2005.241865 # Seafloor depth:-2098.642669 # 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 = 18.68; 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 110.684735 meters # Minimum depth: 2085.096372 meters looking forward 200.000000 meters along route # Maximum depth: 2096.189830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.096372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952975; longitude = -129.083439; captureRadius = 10; duration = 110; initialDepth = 2005.418099; finalDepth = 2005.096372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.4008039999999 # Actual altitude: 93.4008039999999 # Commanded vehicle depth:2005.096372 # Seafloor depth:-2085.096372 # 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 = 18.68; 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 110.684735 meters # Minimum depth: 2085.418099 meters looking forward 200.000000 meters along route # Maximum depth: 2090.485790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.418099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953887; longitude = -129.082925; captureRadius = 10; duration = 110; initialDepth = 2009.429805; finalDepth = 2005.418099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6405669999999 # Actual altitude: 84.6405669999999 # Commanded vehicle depth:2005.418099 # Seafloor depth:-2090.058666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.56; 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 = 338.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2089.429805 meters looking forward 200.000000 meters along route # Maximum depth: 2090.485790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.429805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954774; longitude = -129.082425; captureRadius = 10; duration = 110; initialDepth = 2009.429805; finalDepth = 2009.429805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6405669999999 # Actual altitude: 84.6405669999999 # Commanded vehicle depth:2009.429805 # Seafloor depth:-2089.683206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.56; 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 = 338.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2089.429805 meters looking forward 200.000000 meters along route # Maximum depth: 2098.740732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.429805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955673; longitude = -129.081918; captureRadius = 10; duration = 110; initialDepth = 2011.127614; finalDepth = 2009.429805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4174539999999 # Actual altitude: 80.4174539999999 # Commanded vehicle depth:2009.429805 # Seafloor depth:-2089.847259 # 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 110.684735 meters # Minimum depth: 2091.127614 meters looking forward 200.000000 meters along route # Maximum depth: 2100.961575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.127614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956573; longitude = -129.081411; captureRadius = 10; duration = 110; initialDepth = 2018.458951; finalDepth = 2011.127614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.176622 # Actual altitude: 88.176622 # Commanded vehicle depth:2011.127614 # Seafloor depth:-2099.304236 # 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 110.684735 meters # Minimum depth: 2098.458951 meters looking forward 200.000000 meters along route # Maximum depth: 2100.961575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.458951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957472; longitude = -129.080905; captureRadius = 10; duration = 110; initialDepth = 2015.556033; finalDepth = 2018.458951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.176622 # Actual altitude: 88.176622 # Commanded vehicle depth:2018.458951 # Seafloor depth:-2100.449002 # 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 110.684735 meters # Minimum depth: 2095.556033 meters looking forward 200.000000 meters along route # Maximum depth: 2100.200526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.556033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958400; longitude = -129.080382; captureRadius = 10; duration = 110; initialDepth = 2013.546924; finalDepth = 2015.556033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7980940000002 # Actual altitude: 82.7980940000002 # Commanded vehicle depth:2015.556033 # Seafloor depth:-2098.354127 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2093.546924 meters looking forward 200.000000 meters along route # Maximum depth: 2097.753834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.546924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.079891; captureRadius = 10; duration = 110; initialDepth = 2011.653963; finalDepth = 2013.546924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7980940000002 # Actual altitude: 82.7980940000002 # Commanded vehicle depth:2013.546924 # Seafloor depth:-2095.368659 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2091.653963 meters looking forward 200.000000 meters along route # Maximum depth: 2095.195572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.653963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.079384; captureRadius = 10; duration = 110; initialDepth = 2011.154546; finalDepth = 2011.653963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.821735 # Actual altitude: 81.821735 # Commanded vehicle depth:2011.653963 # Seafloor depth:-2093.398104 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.29; 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 = 327.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2091.154546 meters looking forward 200.000000 meters along route # Maximum depth: 2093.285641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.154546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961012; longitude = -129.078910; captureRadius = 10; duration = 110; initialDepth = 2010.413607; finalDepth = 2011.154546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7441409999997 # Actual altitude: 81.7441409999997 # Commanded vehicle depth:2011.154546 # Seafloor depth:-2091.565352 # 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 110.684735 meters # Minimum depth: 2090.413607 meters looking forward 200.000000 meters along route # Maximum depth: 2091.582995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.413607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961879; longitude = -129.078421; captureRadius = 10; duration = 110; initialDepth = 2006.860932; finalDepth = 2010.413607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.121001 # Actual altitude: 81.121001 # Commanded vehicle depth:2010.413607 # Seafloor depth:-2091.534608 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2086.860932 meters looking forward 200.000000 meters along route # Maximum depth: 2091.582995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.860932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962779; longitude = -129.077914; captureRadius = 10; duration = 110; initialDepth = 2005.372254; finalDepth = 2006.860932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1998629999998 # Actual altitude: 83.1998629999998 # Commanded vehicle depth:2006.860932 # Seafloor depth:-2090.060795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.80; 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 = 332.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2085.372254 meters looking forward 200.000000 meters along route # Maximum depth: 2089.716268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.372254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963625; longitude = -129.077438; captureRadius = 10; duration = 110; initialDepth = 2003.992913; finalDepth = 2005.372254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1998629999998 # Actual altitude: 83.1998629999998 # Commanded vehicle depth:2005.372254 # Seafloor depth:-2086.732600 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.80; 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 = 332.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.684735 meters # Minimum depth: 2083.992913 meters looking forward 200.000000 meters along route # Maximum depth: 2086.291613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.992913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.076951; captureRadius = 10; duration = 110; initialDepth = 2002.652696; finalDepth = 2003.992913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3603459999999 # Actual altitude: 81.3603459999999 # Commanded vehicle depth:2003.992913 # Seafloor depth:-2085.219336 # 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 5 # Segment length 110.684735 meters # Minimum depth: 2082.652696 meters looking forward 200.000000 meters along route # Maximum depth: 2084.998141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.652696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.076445; captureRadius = 10; duration = 110; initialDepth = 2002.652696; finalDepth = 2002.652696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2264230000001 # Actual altitude: 81.2264230000001 # Commanded vehicle depth:2002.652696 # Seafloor depth:-2083.747407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.91; 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 = 324.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 110.684735 meters # Minimum depth: 2082.652696 meters looking forward 200.000000 meters along route # Maximum depth: 2084.455605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.652696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966316; longitude = -129.075921; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2002.705734; finalDepth = 2002.652696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0947109999997 # Actual altitude: 81.0947109999997 # Commanded vehicle depth:2002.652696 # Seafloor depth:-2082.884644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 324.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.684735 meters # Minimum depth: 2082.705734 meters looking forward 200.000000 meters along route # Maximum depth: 2091.920209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.705734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966161; longitude = -129.075162; captureRadius = 10; duration = 110; initialDepth = 2003.491132; finalDepth = 2002.705734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 82.336307 # Actual altitude: 82.336307 # Commanded vehicle depth:2002.705734 # Seafloor depth:-2085.042041 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 329.35; 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 = 329.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 110.684735 meters # Minimum depth: 2083.491132 meters looking forward 200.000000 meters along route # Maximum depth: 2093.644619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.491132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965897; longitude = -129.073869; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2009.995119; finalDepth = 2003.491132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1394829999999 # Actual altitude: 89.1394829999999 # Commanded vehicle depth:2003.491132 # Seafloor depth:-2092.630615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.83; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2089.995119 meters looking forward 200.000000 meters along route # Maximum depth: 2094.415077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.995119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.074153; captureRadius = 10; duration = 110; initialDepth = 2012.561481; finalDepth = 2009.995119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1394829999999 # Actual altitude: 89.1394829999999 # Commanded vehicle depth:2009.995119 # Seafloor depth:-2093.790304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.83; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2092.561481 meters looking forward 200.000000 meters along route # Maximum depth: 2094.415077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.561481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.074654; captureRadius = 10; duration = 110; initialDepth = 2012.115608; finalDepth = 2012.561481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7951849999999 # Actual altitude: 83.7951849999999 # Commanded vehicle depth:2012.561481 # Seafloor depth:-2094.317019 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 335.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2092.115608 meters looking forward 200.000000 meters along route # Maximum depth: 2094.045828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.115608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963576; longitude = -129.075162; captureRadius = 10; duration = 110; initialDepth = 2012.115608; finalDepth = 2012.115608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7555379999999 # Actual altitude: 81.7555379999999 # Commanded vehicle depth:2012.115608 # Seafloor depth:-2092.533772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.02; 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 = 327.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2092.115608 meters looking forward 200.000000 meters along route # Maximum depth: 2095.802392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.115608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962689; longitude = -129.075657; captureRadius = 10; duration = 110; initialDepth = 2013.402862; finalDepth = 2012.115608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.751624 # Actual altitude: 80.751624 # Commanded vehicle depth:2012.115608 # Seafloor depth:-2092.867232 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2093.402862 meters looking forward 200.000000 meters along route # Maximum depth: 2096.992195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2013.402862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961789; longitude = -129.076158; captureRadius = 10; duration = 110; initialDepth = 2016.418625; finalDepth = 2013.402862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.65807 # Actual altitude: 82.65807 # Commanded vehicle depth:2013.402862 # Seafloor depth:-2096.060932 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2096.418625 meters looking forward 200.000000 meters along route # Maximum depth: 2097.127063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.418625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960890; longitude = -129.076659; captureRadius = 10; duration = 110; initialDepth = 2016.044856; finalDepth = 2016.418625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.65807 # Actual altitude: 82.65807 # Commanded vehicle depth:2016.418625 # Seafloor depth:-2097.013744 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2096.044856 meters looking forward 200.000000 meters along route # Maximum depth: 2097.127063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.044856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959973; longitude = -129.077170; captureRadius = 10; duration = 110; initialDepth = 2016.044856; finalDepth = 2016.044856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7969469999998 # Actual altitude: 80.7969469999998 # Commanded vehicle depth:2016.044856 # Seafloor depth:-2096.841803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2096.044856 meters looking forward 200.000000 meters along route # Maximum depth: 2099.493502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.044856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.077661; captureRadius = 10; duration = 110; initialDepth = 2016.514076; finalDepth = 2016.044856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7969469999998 # Actual altitude: 80.7969469999998 # Commanded vehicle depth:2016.044856 # Seafloor depth:-2096.335931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 323.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2096.514076 meters looking forward 200.000000 meters along route # Maximum depth: 2106.001481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.514076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.078162; captureRadius = 10; duration = 110; initialDepth = 2020.499751; finalDepth = 2016.514076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4366850000001 # Actual altitude: 83.4366850000001 # Commanded vehicle depth:2016.514076 # Seafloor depth:-2099.950761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 333.75; 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 = 333.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2100.499751 meters looking forward 200.000000 meters along route # Maximum depth: 2108.868405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.499751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957331; longitude = -129.078642; captureRadius = 10; duration = 110; initialDepth = 2027.027656; finalDepth = 2020.499751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8431410000003 # Actual altitude: 85.8431410000003 # Commanded vehicle depth:2020.499751 # Seafloor depth:-2106.342892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.37; 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 = 343.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2107.027656 meters looking forward 200.000000 meters along route # Maximum depth: 2108.868405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.027656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956483; longitude = -129.079115; captureRadius = 10; duration = 110; initialDepth = 2028.146583; finalDepth = 2027.027656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8431410000003 # Actual altitude: 85.8431410000003 # Commanded vehicle depth:2027.027656 # Seafloor depth:-2108.817037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 343.37; 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 = 343.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 343.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2108.146583 meters looking forward 200.000000 meters along route # Maximum depth: 2112.375697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.146583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955583; longitude = -129.079616; captureRadius = 10; duration = 110; initialDepth = 2025.873202; finalDepth = 2028.146583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7893809999996 # Actual altitude: 81.7893809999996 # Commanded vehicle depth:2028.146583 # Seafloor depth:-2108.434112 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2105.873202 meters looking forward 200.000000 meters along route # Maximum depth: 2112.376186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.873202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954684; longitude = -129.080117; captureRadius = 10; duration = 110; initialDepth = 2024.928059; finalDepth = 2025.873202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5029839999997 # Actual altitude: 86.5029839999997 # Commanded vehicle depth:2025.873202 # Seafloor depth:-2112.376186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2104.928059 meters looking forward 200.000000 meters along route # Maximum depth: 2111.674009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.928059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953785; longitude = -129.080618; captureRadius = 10; duration = 110; initialDepth = 2024.928059; finalDepth = 2024.928059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.5029839999997 # Actual altitude: 86.5029839999997 # Commanded vehicle depth:2024.928059 # Seafloor depth:-2105.380977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 346.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 346.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2104.928059 meters looking forward 200.000000 meters along route # Maximum depth: 2112.367653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.928059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952885; longitude = -129.081119; captureRadius = 10; duration = 110; initialDepth = 2029.627529; finalDepth = 2024.928059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0036250000003 # Actual altitude: 84.0036250000003 # Commanded vehicle depth:2024.928059 # Seafloor depth:-2108.931684 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2109.627529 meters looking forward 200.000000 meters along route # Maximum depth: 2114.375969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.627529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951986; longitude = -129.081620; captureRadius = 10; duration = 110; initialDepth = 2032.586298; finalDepth = 2029.627529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0036250000003 # Actual altitude: 84.0036250000003 # Commanded vehicle depth:2029.627529 # Seafloor depth:-2112.404920 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2112.586298 meters looking forward 200.000000 meters along route # Maximum depth: 2118.083090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.586298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951086; longitude = -129.082122; captureRadius = 10; duration = 110; initialDepth = 2034.142387; finalDepth = 2032.586298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7773910000001 # Actual altitude: 82.7773910000001 # Commanded vehicle depth:2032.586298 # Seafloor depth:-2114.297346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 331.11; 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 = 331.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2114.142387 meters looking forward 200.000000 meters along route # Maximum depth: 2120.464514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.142387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950187; longitude = -129.082623; captureRadius = 10; duration = 110; initialDepth = 2039.314334; finalDepth = 2034.142387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4794529999999 # Actual altitude: 84.4794529999999 # Commanded vehicle depth:2034.142387 # Seafloor depth:-2118.621840 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2119.314334 meters looking forward 200.000000 meters along route # Maximum depth: 2130.536692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.314334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949288; longitude = -129.083124; captureRadius = 10; duration = 110; initialDepth = 2041.557127; finalDepth = 2039.314334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4794529999999 # Actual altitude: 84.4794529999999 # Commanded vehicle depth:2039.314334 # Seafloor depth:-2120.854339 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2121.557127 meters looking forward 200.000000 meters along route # Maximum depth: 2132.993080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.557127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948388; longitude = -129.083625; captureRadius = 10; duration = 110; initialDepth = 2052.045543; finalDepth = 2041.557127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.5761659999998 # Actual altitude: 89.5761659999998 # Commanded vehicle depth:2041.557127 # Seafloor depth:-2131.133293 # 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 = 17.92; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2132.045543 meters looking forward 200.000000 meters along route # Maximum depth: 2135.663612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2052.045543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947483; longitude = -129.084129; captureRadius = 10; duration = 110; initialDepth = 2054.141972; finalDepth = 2052.045543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.5761659999998 # Actual altitude: 89.5761659999998 # Commanded vehicle depth:2052.045543 # Seafloor depth:-2133.034412 # 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 = 17.92; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2134.141972 meters looking forward 200.000000 meters along route # Maximum depth: 2135.663612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.141972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946589; longitude = -129.084627; captureRadius = 10; duration = 110; initialDepth = 2054.141972; finalDepth = 2054.141972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.185559 # Actual altitude: 81.185559 # Commanded vehicle depth:2054.141972 # Seafloor depth:-2135.327531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2134.141972 meters looking forward 200.000000 meters along route # Maximum depth: 2140.401690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2054.141972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945690; longitude = -129.085128; captureRadius = 10; duration = 110; initialDepth = 2055.619758; finalDepth = 2054.141972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.185559 # Actual altitude: 81.185559 # Commanded vehicle depth:2054.141972 # Seafloor depth:-2135.240304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 324.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 324.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2135.619758 meters looking forward 200.000000 meters along route # Maximum depth: 2157.585354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.619758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944791; longitude = -129.085629; captureRadius = 10; duration = 110; initialDepth = 2062.646663; finalDepth = 2055.619758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2850390000003 # Actual altitude: 85.2850390000003 # Commanded vehicle depth:2055.619758 # Seafloor depth:-2140.904797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 341.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2142.646663 meters looking forward 200.000000 meters along route # Maximum depth: 2166.937201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.646663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943880; longitude = -129.086137; captureRadius = 10; duration = 110; initialDepth = 2079.198066; finalDepth = 2062.646663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2038430000002 # Actual altitude: 95.2038430000002 # Commanded vehicle depth:2062.646663 # Seafloor depth:-2157.850506 # 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 110.684735 meters # Minimum depth: 2159.198066 meters looking forward 200.000000 meters along route # Maximum depth: 2166.937201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.198066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942992; longitude = -129.086632; captureRadius = 10; duration = 110; initialDepth = 2076.324260; finalDepth = 2079.198066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2038430000002 # Actual altitude: 95.2038430000002 # Commanded vehicle depth:2079.198066 # Seafloor depth:-2166.624069 # 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 110.684735 meters # Minimum depth: 2156.324260 meters looking forward 200.000000 meters along route # Maximum depth: 2165.905318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.324260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942092; longitude = -129.087133; captureRadius = 10; duration = 110; initialDepth = 2076.324260; finalDepth = 2076.324260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.426003 # Actual altitude: 87.426003 # Commanded vehicle depth:2076.32426 # Seafloor depth:-2158.311669 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.70; 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 = 349.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2156.324260 meters looking forward 200.000000 meters along route # Maximum depth: 2161.176930 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2076.324260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941193; longitude = -129.087634; captureRadius = 10; duration = 110; initialDepth = 2072.411079; finalDepth = 2076.324260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6086990000003 # Actual altitude: 83.6086990000003 # Commanded vehicle depth:2076.32426 # Seafloor depth:-2159.932959 # 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 3 # Segment length 110.684735 meters # Minimum depth: 2152.411079 meters looking forward 200.000000 meters along route # Maximum depth: 2161.176930 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.411079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940277; longitude = -129.088144; captureRadius = 10; duration = 110; initialDepth = 2061.878937; finalDepth = 2072.411079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.4082119999998 # Actual altitude: 87.4082119999998 # Commanded vehicle depth:2072.411079 # Seafloor depth:-2159.819291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 349.63; 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 = 349.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2141.878937 meters looking forward 200.000000 meters along route # Maximum depth: 2158.384253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.878937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939394; longitude = -129.088636; captureRadius = 10; duration = 110; initialDepth = 2057.917310; finalDepth = 2061.878937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.559996 # Actual altitude: 89.559996 # Commanded vehicle depth:2061.878937 # Seafloor depth:-2151.438933 # 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 110.684735 meters # Minimum depth: 2137.917310 meters looking forward 200.000000 meters along route # Maximum depth: 2149.390519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.917310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938495; longitude = -129.089137; captureRadius = 10; duration = 110; initialDepth = 2057.917310; finalDepth = 2057.917310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.559996 # Actual altitude: 89.559996 # Commanded vehicle depth:2057.91731 # Seafloor depth:-2141.001644 # 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 110.684735 meters # Minimum depth: 2137.917310 meters looking forward 200.000000 meters along route # Maximum depth: 2140.283022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.917310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937595; longitude = -129.089639; captureRadius = 10; duration = 110; initialDepth = 2056.184630; finalDepth = 2057.917310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0843340000001 # Actual altitude: 83.0843340000001 # Commanded vehicle depth:2057.91731 # Seafloor depth:-2138.919886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.34; 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 = 332.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2136.184630 meters looking forward 200.000000 meters along route # Maximum depth: 2140.283022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.184630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936674; longitude = -129.090152; captureRadius = 10; duration = 110; initialDepth = 2055.915442; finalDepth = 2056.184630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.151398 # Actual altitude: 83.151398 # Commanded vehicle depth:2056.18463 # Seafloor depth:-2139.336028 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.61; 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 = 332.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2135.915442 meters looking forward 200.000000 meters along route # Maximum depth: 2138.548537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.915442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935797; longitude = -129.090641; captureRadius = 10; duration = 110; initialDepth = 2053.110905; finalDepth = 2055.915442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.151398 # Actual altitude: 83.151398 # Commanded vehicle depth:2055.915442 # Seafloor depth:-2135.990214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 332.61; 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 = 332.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2133.110905 meters looking forward 200.000000 meters along route # Maximum depth: 2137.121798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2053.110905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934897; longitude = -129.091142; captureRadius = 10; duration = 110; initialDepth = 2043.591216; finalDepth = 2053.110905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8803630000002 # Actual altitude: 83.8803630000002 # Commanded vehicle depth:2053.110905 # Seafloor depth:-2136.991268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.52; 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 = 335.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2123.591216 meters looking forward 200.000000 meters along route # Maximum depth: 2137.121798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.591216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934032; longitude = -129.091624; captureRadius = 10; duration = 110; initialDepth = 2043.384289; finalDepth = 2043.591216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6449170000001 # Actual altitude: 88.6449170000001 # Commanded vehicle depth:2043.591216 # Seafloor depth:-2132.236133 # 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 = 17.73; 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 110.684735 meters # Minimum depth: 2123.384289 meters looking forward 200.000000 meters along route # Maximum depth: 2133.150164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.384289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933188; longitude = -129.092094; captureRadius = 10; duration = 110; initialDepth = 2043.544557; finalDepth = 2043.384289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6449170000001 # Actual altitude: 88.6449170000001 # Commanded vehicle depth:2043.384289 # Seafloor depth:-2123.384289 # 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 = 17.73; 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 110.684735 meters # Minimum depth: 2123.544557 meters looking forward 200.000000 meters along route # Maximum depth: 2135.873748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.544557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932289; longitude = -129.092595; captureRadius = 10; duration = 110; initialDepth = 2050.303734; finalDepth = 2043.544557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2503669999996 # Actual altitude: 90.2503669999996 # Commanded vehicle depth:2043.544557 # Seafloor depth:-2133.794924 # 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 110.684735 meters # Minimum depth: 2130.303734 meters looking forward 200.000000 meters along route # Maximum depth: 2135.873748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.303734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.093096; captureRadius = 10; duration = 110; initialDepth = 2050.062439; finalDepth = 2050.303734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2503669999996 # Actual altitude: 90.2503669999996 # Commanded vehicle depth:2050.303734 # Seafloor depth:-2135.399974 # 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 110.684735 meters # Minimum depth: 2130.062439 meters looking forward 200.000000 meters along route # Maximum depth: 2133.880791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.062439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930490; longitude = -129.093598; captureRadius = 10; duration = 110; initialDepth = 2050.062439; finalDepth = 2050.062439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0962399999999 # Actual altitude: 85.0962399999999 # Commanded vehicle depth:2050.062439 # Seafloor depth:-2130.928337 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 340.38; 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 = 340.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2130.062439 meters looking forward 200.000000 meters along route # Maximum depth: 2139.065973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.062439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929591; longitude = -129.094099; captureRadius = 10; duration = 110; initialDepth = 2051.011635; finalDepth = 2050.062439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.865898 # Actual altitude: 80.865898 # Commanded vehicle depth:2050.062439 # Seafloor depth:-2130.423786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 323.46; 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 = 323.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.684735 meters # Minimum depth: 2131.011635 meters looking forward 200.000000 meters along route # Maximum depth: 2146.097288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2051.011635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928691; longitude = -129.094600; captureRadius = 10; duration = 110; initialDepth = 2062.274354; finalDepth = 2051.011635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8992280000002 # Actual altitude: 88.8992280000002 # Commanded vehicle depth:2051.011635 # Seafloor depth:-2139.910863 # 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 110.684735 meters # Minimum depth: 2142.274354 meters looking forward 200.000000 meters along route # Maximum depth: 2146.212331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.274354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927787; longitude = -129.095104; captureRadius = 10; duration = 110; initialDepth = 2062.628640; finalDepth = 2062.274354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.8992280000002 # Actual altitude: 88.8992280000002 # Commanded vehicle depth:2062.274354 # Seafloor depth:-2146.106421 # 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 110.684735 meters # Minimum depth: 2142.628640 meters looking forward 200.000000 meters along route # Maximum depth: 2146.168132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.628640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926892; longitude = -129.095602; captureRadius = 10; duration = 110; initialDepth = 2062.230733; finalDepth = 2062.628640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.8320669999998 # Actual altitude: 83.8320669999998 # Commanded vehicle depth:2062.62864 # Seafloor depth:-2143.080316 # 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 110.684735 meters # Minimum depth: 2142.230733 meters looking forward 200.000000 meters along route # Maximum depth: 2143.349564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.230733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925993; longitude = -129.096103; captureRadius = 10; duration = 110; initialDepth = 2062.230733; finalDepth = 2062.230733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4516760000001 # Actual altitude: 80.4516760000001 # Commanded vehicle depth:2062.230733 # Seafloor depth:-2142.401827 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.81; 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 = 321.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 110.684735 meters # Minimum depth: 2142.230733 meters looking forward 200.000000 meters along route # Maximum depth: 2144.080899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.230733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925064; longitude = -129.096621; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2058.058994; finalDepth = 2062.230733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.136027 # Actual altitude: 81.136027 # Commanded vehicle depth:2062.230733 # Seafloor depth:-2143.366760 # 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 110.684735 meters # Minimum depth: 2138.058994 meters looking forward 200.000000 meters along route # Maximum depth: 2144.098370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.058994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924938; longitude = -129.096175; captureRadius = 10; duration = 110; initialDepth = 2057.862915; finalDepth = 2058.058994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 86.0393760000002 # Actual altitude: 86.0393760000002 # Commanded vehicle depth:2058.058994 # Seafloor depth:-2144.098370 # 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 110.684735 meters # Minimum depth: 2137.862915 meters looking forward 200.000000 meters along route # Maximum depth: 2144.098370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.862915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924584; longitude = -129.094925; captureRadius = 10; duration = 110; # abortOnTimeout = True; initialDepth = 2057.862915; finalDepth = 2057.862915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0393760000002 # Actual altitude: 86.0393760000002 # Commanded vehicle depth:2057.862915 # Seafloor depth:-2137.862915 # 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 110.684735 meters # Minimum depth: 2137.862915 meters looking forward 200.000000 meters along route # Maximum depth: 2142.976492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.862915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924824; longitude = -129.094788; captureRadius = 10; duration = 110; initialDepth = 2058.575366; finalDepth = 2057.862915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3948719999999 # Actual altitude: 80.3948719999999 # Commanded vehicle depth:2057.862915 # Seafloor depth:-2138.257787 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.58; 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 = 321.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.684735 meters # Minimum depth: 2138.575366 meters looking forward 200.000000 meters along route # Maximum depth: 2143.763451 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.575366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925675; longitude = -129.094301; captureRadius = 10; duration = 110; initialDepth = 2062.382020; finalDepth = 2058.575366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6709179999998 # Actual altitude: 83.6709179999998 # Commanded vehicle depth:2058.575366 # Seafloor depth:-2142.246284 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.68; 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 = 334.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.684735 meters # Minimum depth: 2142.382020 meters looking forward 200.000000 meters along route # Maximum depth: 2144.242260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.382020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926533; longitude = -129.093810; captureRadius = 10; duration = 110; initialDepth = 2058.639650; finalDepth = 2062.382020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.6709179999998 # Actual altitude: 83.6709179999998 # Commanded vehicle depth:2062.38202 # Seafloor depth:-2143.943786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 334.68; 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 = 334.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.684735 meters # Minimum depth: 2138.639650 meters looking forward 200.000000 meters along route # Maximum depth: 2144.242260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.639650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927432; longitude = -129.093295; captureRadius = 10; duration = 110; initialDepth = 2057.127658; finalDepth = 2058.639650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4844250000001 # Actual altitude: 85.4844250000001 # Commanded vehicle depth:2058.63965 # Seafloor depth:-2144.124075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.94; 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 = 341.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.684735 meters # Minimum depth: 2137.127658 meters looking forward 200.000000 meters along route # Maximum depth: 2143.617802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2222.642033 meters # Desired vehicle altitude: 80.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.127658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928331; longitude = -129.092781; captureRadius = 10; duration = 110; initialDepth = 2056.747131; finalDepth = 2057.127658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4844250000001 # Actual altitude: 85.4844250000001 # Commanded vehicle depth:2057.127658 # Seafloor depth:-2138.473082 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 341.94; 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 = 341.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 81.3454240000001 # Sonar parameter altitude: 81.3454240000001 # Commanded vehicle depth:2056.747131 # Seafloor depth:-2136.747131 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 110.684735 meters # Minimum depth: 2136.747131 meters looking forward 200.000000 meters along route # Maximum depth: 2143.617802 meters looking forward 200.000000 meters along route # Vehicle depth: 2056.747131 meters behavior waypoint { latitude = 47.929261; longitude = -129.092249; captureRadius = 10; duration = 514; depth = 2056.747131; 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 2056.747131 meters set by local depth and desired altitude behavior descend { duration = 6148; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2046.747131; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 110.684735 meters # Minimum depth: 2136.747131 meters looking forward 200.000000 meters along route # Maximum depth: 2143.617802 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; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = -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; } # 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