# 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: TN199_MAUV1_v2.rte # Mission File: TN199_MAUV1_v2low.cfg # Distance: 29657.427978 (m) # Estimated Time: 26676 (s) 7.410 (hr) # Abort Time: 28800 (s) # Way Points: 35 # Route Points: 294 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 70 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 2250 (m) # Abort Vehicle Depth: 2300 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.31 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -129.995046 46.000560 -1503.091634 0.000000 1 # 1 -129.993628 45.998626 -1505.448730 241.367047 1 # 2 -129.979536 45.979645 -1499.852112 2616.104339 4 # 3 -129.981821 45.978808 -1494.503693 2816.060856 3 # 4 -129.997515 45.999620 -1497.362732 5428.587603 4 # 5 -129.999801 45.998783 -1492.786835 5628.556983 3 # 6 -129.984107 45.977970 -1490.150543 8241.191191 4 # 7 -129.986392 45.977133 -1485.304993 8441.152554 3 # 8 -130.002087 45.997945 -1492.624847 11053.733556 4 # 9 -130.004949 45.996709 -1490.451202 11314.473598 3 # 10 -130.002240 45.994129 -1486.920013 11669.717678 1 # 11 -129.988677 45.976296 -1476.978149 13912.500457 4 # 12 -129.990962 45.975458 -1480.465454 14112.518367 3 # 13 -130.004046 45.993097 -1486.582336 16319.001177 1 # 14 -130.007744 45.995720 -1489.828461 16727.618253 4 # 15 -130.010582 45.994301 -1483.056976 16998.113802 3 # 16 -130.007271 45.992581 -1475.168671 17317.928350 1 # 17 -130.004906 45.990431 -1481.855896 17618.964574 1 # 18 -129.993247 45.974621 -1473.992310 19594.243826 4 # 19 -129.997295 45.974177 -1537.764099 19911.714027 3 # 20 -129.999488 45.977144 -1556.480774 20282.593390 1 # 21 -130.003530 45.981358 -1589.949280 20845.879486 1 # 22 -130.004949 45.985615 -1589.089783 21331.498352 1 # 23 -130.008303 45.989227 -1582.133087 21809.586600 1 # start varying multibeam receive gains # 24 -130.010625 45.991162 -1582.078949 22089.893207 1 # 25 -130.012947 45.991549 -1579.510620 22274.802225 4 # end varying multibeam receive gains # 26 -130.010367 45.988453 -1583.702545 22672.640126 1 # start 100 m altitude, vary multibeam receive gains # 27 -130.007228 45.984755 -1589.796692 23150.088425 1 # end varying multibeam receive gains # 28 -130.005938 45.980627 -1588.581177 23619.528989 1 # # 29 -130.000778 45.975467 -1554.873291 24318.473230 3 # end 100 m altitude # 30 -129.983277 45.987679 -1497.612671 26236.586999 4 # short length of 100 m altitude, vary multibeam receive gains # 31 -129.989598 45.996064 -1511.257507 27289.071660 3 # 32 -129.993597 45.993355 -1486.840576 27720.955294 1 # 33 -129.994758 45.987034 -1478.928864 28429.044567 1 # 34 -130.005164 45.978692 -1572.243744 29657.427978 4 # # A total of 294 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 29657.427978 #define MISSION_TIME 30600 #define MISSION_TIMEOUT 30600 #define DEPTH_MAX 2250.000000 #define DEPTH_ABORT 2300.000000 #define ALTITUDE_DESIRED 70.000000 #define ALTITUDE_MIN 75.000000 #define ALTITUDE_ABORT 25.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 5.000000 #define ASCENDPITCH 30.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 4.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; abortLockoutDepth = 1450; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 6086; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 62.829032 meters # Minimum depth: 1572.243744 meters looking forward 100.000000 meters along route # Maximum depth: 1574.828068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1502.243744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978692; longitude = -130.005164; captureRadius = 10; duration = 62; initialDepth = 1502.243744; finalDepth = 1502.243744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1502.243744 # Seafloor depth:-1572.243744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 112.853127 meters # Minimum depth: 1573.052266 meters looking forward 100.000000 meters along route # Maximum depth: 1574.089548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1503.052266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979119; longitude = -130.004632; captureRadius = 10; duration = 112; initialDepth = 1503.052266; finalDepth = 1502.243744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.037282 # Actual altitude: 75 # Commanded vehicle depth:1503.052266 # Seafloor depth:-1574.089548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.260294 meters # Minimum depth: 1572.120857 meters looking forward 100.000000 meters along route # Maximum depth: 1584.746775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1502.120857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979885; longitude = -130.003676; captureRadius = 10; duration = 100; initialDepth = 1502.120857; finalDepth = 1503.052266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.037282 # Actual altitude: 75 # Commanded vehicle depth:1502.120857 # Seafloor depth:-1572.866152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 108.614736 meters # Minimum depth: 1570.783584 meters looking forward 100.000000 meters along route # Maximum depth: 1585.409378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1500.783584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980566; longitude = -130.002826; captureRadius = 10; duration = 108; initialDepth = 1500.783584; finalDepth = 1502.120857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.183984 # Actual altitude: 84.183984 # Commanded vehicle depth:1500.783584 # Seafloor depth:-1584.967568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.09; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 42.09; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.496267 meters # Minimum depth: 1502.429063 meters looking forward 100.000000 meters along route # Maximum depth: 1569.985060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1432.429063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981303; longitude = -130.001906; captureRadius = 10; duration = 104; initialDepth = 1432.429063; finalDepth = 1500.783584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 137.555997 # Actual altitude: 100 # Commanded vehicle depth:1432.429063 # Seafloor depth:-1569.985060 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 106.554596 meters # Minimum depth: 1476.924082 meters looking forward 100.000000 meters along route # Maximum depth: 1498.179200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.924082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982013; longitude = -130.001021; captureRadius = 10; duration = 106; initialDepth = 1406.924082; finalDepth = 1432.429063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 137.555997 # Actual altitude: 100 # Commanded vehicle depth:1406.924082 # Seafloor depth:-1498.179200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 111.751434 meters # Minimum depth: 1477.276218 meters looking forward 100.000000 meters along route # Maximum depth: 1479.257212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.276218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982737; longitude = -130.000119; captureRadius = 10; duration = 111; initialDepth = 1407.276218; finalDepth = 1406.924082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.255118 # Actual altitude: 91.255118 # Commanded vehicle depth:1407.276218 # Seafloor depth:-1477.276218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.63; MB_Bottom_Detect_Filter_Max_Range = 219.01; MB_Bottom_Detect_Filter_Min_Depth = 45.63; MB_Bottom_Detect_Filter_Max_Depth = 219.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.355942 meters # Minimum depth: 1476.672235 meters looking forward 100.000000 meters along route # Maximum depth: 1477.637828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.672235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983496; longitude = -129.999172; captureRadius = 10; duration = 101; initialDepth = 1406.672235; finalDepth = 1407.276218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7968000000001 # Actual altitude: 75 # Commanded vehicle depth:1406.672235 # Seafloor depth:-1477.469035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 107.513177 meters # Minimum depth: 1475.906454 meters looking forward 100.000000 meters along route # Maximum depth: 1476.557727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.906454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984184; longitude = -129.998313; captureRadius = 10; duration = 107; initialDepth = 1405.906454; finalDepth = 1406.672235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7968000000001 # Actual altitude: 75 # Commanded vehicle depth:1405.906454 # Seafloor depth:-1476.557727 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 105.591783 meters # Minimum depth: 1476.168854 meters looking forward 100.000000 meters along route # Maximum depth: 1477.385110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.168854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984914; longitude = -129.997402; captureRadius = 10; duration = 105; initialDepth = 1406.168854; finalDepth = 1405.906454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6512730000002 # Actual altitude: 75 # Commanded vehicle depth:1406.168854 # Seafloor depth:-1476.168854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 106.551573 meters # Minimum depth: 1476.239857 meters looking forward 100.000000 meters along route # Maximum depth: 1478.118434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.239857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985631; longitude = -129.996508; captureRadius = 10; duration = 106; initialDepth = 1406.239857; finalDepth = 1406.168854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3241089999999 # Actual altitude: 75 # Commanded vehicle depth:1406.239857 # Seafloor depth:-1477.563966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.011450 meters # Minimum depth: 1476.161077 meters looking forward 100.000000 meters along route # Maximum depth: 1478.766205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.161077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986355; longitude = -129.995605; captureRadius = 10; duration = 100; initialDepth = 1406.161077; finalDepth = 1406.239857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3241089999999 # Actual altitude: 75 # Commanded vehicle depth:1406.161077 # Seafloor depth:-1476.224582 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 94.764773 meters # Minimum depth: 1478.928864 meters looking forward 100.000000 meters along route # Maximum depth: 1480.133242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.928864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987034; longitude = -129.994758; captureRadius = 10; duration = 94; initialDepth = 1408.928864; finalDepth = 1406.161077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0635050000001 # Actual altitude: 75 # Commanded vehicle depth:1408.928864 # Seafloor depth:-1478.928864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.116667 meters # Minimum depth: 1477.930297 meters looking forward 100.000000 meters along route # Maximum depth: 1479.895207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.930297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987880; longitude = -129.994603; captureRadius = 10; duration = 101; initialDepth = 1407.930297; finalDepth = 1408.928864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9649099999999 # Actual altitude: 75 # Commanded vehicle depth:1407.930297 # Seafloor depth:-1479.895207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.116653 meters # Minimum depth: 1477.829097 meters looking forward 100.000000 meters along route # Maximum depth: 1480.844379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.829097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988783; longitude = -129.994437; captureRadius = 10; duration = 101; initialDepth = 1407.829097; finalDepth = 1407.930297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9649099999999 # Actual altitude: 75 # Commanded vehicle depth:1407.829097 # Seafloor depth:-1477.842953 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.116640 meters # Minimum depth: 1479.257894 meters looking forward 100.000000 meters along route # Maximum depth: 1480.835129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.257894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989685; longitude = -129.994271; captureRadius = 10; duration = 101; initialDepth = 1409.257894; finalDepth = 1407.829097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.577235 # Actual altitude: 75 # Commanded vehicle depth:1409.257894 # Seafloor depth:-1480.835129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.116627 meters # Minimum depth: 1480.837604 meters looking forward 100.000000 meters along route # Maximum depth: 1483.688937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1410.837604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990588; longitude = -129.994105; captureRadius = 10; duration = 101; initialDepth = 1410.837604; finalDepth = 1409.257894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.577235 # Actual altitude: 75 # Commanded vehicle depth:1410.837604 # Seafloor depth:-1481.133774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 101.116613 meters # Minimum depth: 1482.200901 meters looking forward 100.000000 meters along route # Maximum depth: 1483.843835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.200901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991491; longitude = -129.993939; captureRadius = 10; duration = 101; initialDepth = 1412.200901; finalDepth = 1410.837604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.642934 # Actual altitude: 75 # Commanded vehicle depth:1412.200901 # Seafloor depth:-1483.843835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.741300 meters # Minimum depth: 1483.410445 meters looking forward 100.000000 meters along route # Maximum depth: 1486.762281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.410445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992393; longitude = -129.993774; captureRadius = 10; duration = 107; initialDepth = 1413.410445; finalDepth = 1412.200901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.642934 # Actual altitude: 75 # Commanded vehicle depth:1413.410445 # Seafloor depth:-1483.410445 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 11.130050 meters # Minimum depth: 1484.938270 meters looking forward 100.000000 meters along route # Maximum depth: 1487.120408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1414.938270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993355; longitude = -129.993597; captureRadius = 10; duration = 11; initialDepth = 1414.938270; finalDepth = 1413.410445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.902306 # Actual altitude: 75 # Commanded vehicle depth:1414.93827 # Seafloor depth:-1486.840576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.790749 meters # Minimum depth: 1487.298051 meters looking forward 100.000000 meters along route # Maximum depth: 1489.271212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.298051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993425; longitude = -129.993494; captureRadius = 10; duration = 102; initialDepth = 1417.298051; finalDepth = 1414.938270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.902306 # Actual altitude: 75 # Commanded vehicle depth:1417.298051 # Seafloor depth:-1487.298051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.790127 meters # Minimum depth: 1489.796217 meters looking forward 100.000000 meters along route # Maximum depth: 1496.510011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.796217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994070; longitude = -129.992542; captureRadius = 10; duration = 102; initialDepth = 1419.796217; finalDepth = 1417.298051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1419.796217 # Seafloor depth:-1489.796217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.531213 meters # Minimum depth: 1496.677527 meters looking forward 100.000000 meters along route # Maximum depth: 1506.040701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.677527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994714; longitude = -129.991590; captureRadius = 10; duration = 109; initialDepth = 1426.677527; finalDepth = 1419.796217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1426.677527 # Seafloor depth:-1496.677527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.641495 meters # Minimum depth: 1506.651554 meters looking forward 100.000000 meters along route # Maximum depth: 1510.758603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1436.651554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995401; longitude = -129.990576; captureRadius = 10; duration = 105; initialDepth = 1436.651554; finalDepth = 1426.677527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1436.651554 # Seafloor depth:-1506.651554 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 94.776125 meters # Minimum depth: 1508.316369 meters looking forward 100.000000 meters along route # Maximum depth: 1511.257507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1438.316369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996064; longitude = -129.989598; captureRadius = 10; duration = 94; initialDepth = 1438.316369; finalDepth = 1436.651554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9411380000001 # Actual altitude: 75 # Commanded vehicle depth:1438.316369 # Seafloor depth:-1511.257507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 107.353838 meters # Minimum depth: 1501.446803 meters looking forward 100.000000 meters along route # Maximum depth: 1507.904168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1431.446803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995309; longitude = -129.989029; captureRadius = 10; duration = 107; initialDepth = 1431.446803; finalDepth = 1438.316369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.457365 # Actual altitude: 76.457365 # Commanded vehicle depth:1431.446803 # Seafloor depth:-1507.904168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 183.50; MB_Bottom_Detect_Filter_Min_Depth = 38.23; MB_Bottom_Detect_Filter_Max_Depth = 183.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 112.951453 meters # Minimum depth: 1496.184290 meters looking forward 100.000000 meters along route # Maximum depth: 1501.412151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.184290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994454; longitude = -129.988384; captureRadius = 10; duration = 112; initialDepth = 1426.184290; finalDepth = 1431.446803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.457365 # Actual altitude: 76.457365 # Commanded vehicle depth:1426.18429 # Seafloor depth:-1501.412151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 183.50; MB_Bottom_Detect_Filter_Min_Depth = 38.23; MB_Bottom_Detect_Filter_Max_Depth = 183.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.757230 meters # Minimum depth: 1496.454189 meters looking forward 100.000000 meters along route # Maximum depth: 1497.384898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.454189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993554; longitude = -129.987706; captureRadius = 10; duration = 101; initialDepth = 1426.454189; finalDepth = 1426.184290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2278610000001 # Actual altitude: 75.2278610000001 # Commanded vehicle depth:1426.454189 # Seafloor depth:-1496.454189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 180.55; MB_Bottom_Detect_Filter_Min_Depth = 37.61; MB_Bottom_Detect_Filter_Max_Depth = 180.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 108.657957 meters # Minimum depth: 1493.227686 meters looking forward 100.000000 meters along route # Maximum depth: 1498.352329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.227686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992743; longitude = -129.987095; captureRadius = 10; duration = 108; initialDepth = 1423.227686; finalDepth = 1426.454189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3636960000001 # Actual altitude: 75 # Commanded vehicle depth:1423.227686 # Seafloor depth:-1497.591382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 113.301019 meters # Minimum depth: 1491.812098 meters looking forward 100.000000 meters along route # Maximum depth: 1493.199238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1421.812098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991877; longitude = -129.986442; captureRadius = 10; duration = 113; initialDepth = 1421.812098; finalDepth = 1423.227686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3636960000001 # Actual altitude: 75 # Commanded vehicle depth:1421.812098 # Seafloor depth:-1493.199238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.106562 meters # Minimum depth: 1493.010972 meters looking forward 100.000000 meters along route # Maximum depth: 1501.208500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.010972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990975; longitude = -129.985761; captureRadius = 10; duration = 100; initialDepth = 1423.010972; finalDepth = 1421.812098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3871399999998 # Actual altitude: 75 # Commanded vehicle depth:1423.010972 # Seafloor depth:-1493.010972 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 107.355849 meters # Minimum depth: 1499.342735 meters looking forward 100.000000 meters along route # Maximum depth: 1501.676705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1429.342735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990177; longitude = -129.985160; captureRadius = 10; duration = 107; initialDepth = 1429.342735; finalDepth = 1423.010972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0190460000001 # Actual altitude: 75 # Commanded vehicle depth:1429.342735 # Seafloor depth:-1501.361781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.070808 meters # Minimum depth: 1496.193969 meters looking forward 100.000000 meters along route # Maximum depth: 1499.182588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.193969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989322; longitude = -129.984516; captureRadius = 10; duration = 100; initialDepth = 1426.193969; finalDepth = 1429.342735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.988619 # Actual altitude: 75 # Commanded vehicle depth:1426.193969 # Seafloor depth:-1499.182588 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.153820 meters # Minimum depth: 1496.420632 meters looking forward 100.000000 meters along route # Maximum depth: 1497.685307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.420632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988525; longitude = -129.983915; captureRadius = 10; duration = 106; initialDepth = 1426.420632; finalDepth = 1426.193969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.988619 # Actual altitude: 75 # Commanded vehicle depth:1426.420632 # Seafloor depth:-1496.420632 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 89.956227 meters # Minimum depth: 1496.988193 meters looking forward 100.000000 meters along route # Maximum depth: 1497.685307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.988193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987679; longitude = -129.983277; captureRadius = 10; duration = 89; initialDepth = 1426.988193; finalDepth = 1426.420632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6244780000002 # Actual altitude: 75 # Commanded vehicle depth:1426.988193 # Seafloor depth:-1497.612671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.308842 meters # Minimum depth: 1494.426461 meters looking forward 100.000000 meters along route # Maximum depth: 1497.188299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.426461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987106; longitude = -129.984098; captureRadius = 10; duration = 102; initialDepth = 1424.426461; finalDepth = 1426.988193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7618379999999 # Actual altitude: 75 # Commanded vehicle depth:1424.426461 # Seafloor depth:-1497.188299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.221722 meters # Minimum depth: 1492.600529 meters looking forward 100.000000 meters along route # Maximum depth: 1494.393094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.600529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986455; longitude = -129.985031; captureRadius = 10; duration = 100; initialDepth = 1422.600529; finalDepth = 1424.426461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7618379999999 # Actual altitude: 75 # Commanded vehicle depth:1422.600529 # Seafloor depth:-1494.393094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.266174 meters # Minimum depth: 1483.450813 meters looking forward 100.000000 meters along route # Maximum depth: 1493.142606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.450813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985817; longitude = -129.985946; captureRadius = 10; duration = 101; initialDepth = 1413.450813; finalDepth = 1422.600529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.691793 # Actual altitude: 79.691793 # Commanded vehicle depth:1413.450813 # Seafloor depth:-1493.142606 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.85; MB_Bottom_Detect_Filter_Max_Range = 191.26; MB_Bottom_Detect_Filter_Min_Depth = 39.85; MB_Bottom_Detect_Filter_Max_Depth = 191.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.266770 meters # Minimum depth: 1480.656155 meters looking forward 100.000000 meters along route # Maximum depth: 1483.108519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1410.656155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985172; longitude = -129.986870; captureRadius = 10; duration = 101; initialDepth = 1410.656155; finalDepth = 1413.450813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.691793 # Actual altitude: 79.691793 # Commanded vehicle depth:1410.656155 # Seafloor depth:-1483.108519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.85; MB_Bottom_Detect_Filter_Max_Range = 191.26; MB_Bottom_Detect_Filter_Min_Depth = 39.85; MB_Bottom_Detect_Filter_Max_Depth = 191.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.267365 meters # Minimum depth: 1480.807805 meters looking forward 100.000000 meters along route # Maximum depth: 1482.588823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1410.807805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984527; longitude = -129.987794; captureRadius = 10; duration = 101; initialDepth = 1410.807805; finalDepth = 1410.656155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.452364 # Actual altitude: 75 # Commanded vehicle depth:1410.807805 # Seafloor depth:-1480.825261 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.267960 meters # Minimum depth: 1479.361728 meters looking forward 100.000000 meters along route # Maximum depth: 1481.892161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.361728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983882; longitude = -129.988718; captureRadius = 10; duration = 101; initialDepth = 1409.361728; finalDepth = 1410.807805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5304329999999 # Actual altitude: 75 # Commanded vehicle depth:1409.361728 # Seafloor depth:-1481.892161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.411978 meters # Minimum depth: 1476.941432 meters looking forward 100.000000 meters along route # Maximum depth: 1478.715112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.941432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983238; longitude = -129.989642; captureRadius = 10; duration = 102; initialDepth = 1406.941432; finalDepth = 1409.361728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5304329999999 # Actual altitude: 75 # Commanded vehicle depth:1406.941432 # Seafloor depth:-1478.715112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.125729 meters # Minimum depth: 1476.880017 meters looking forward 100.000000 meters along route # Maximum depth: 1477.126988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.880017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982586; longitude = -129.990576; captureRadius = 10; duration = 100; initialDepth = 1406.880017; finalDepth = 1406.941432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.77368 # Actual altitude: 75 # Commanded vehicle depth:1406.880017 # Seafloor depth:-1477.057311 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.269746 meters # Minimum depth: 1475.313716 meters looking forward 100.000000 meters along route # Maximum depth: 1476.876305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.313716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981948; longitude = -129.991490; captureRadius = 10; duration = 101; initialDepth = 1405.313716; finalDepth = 1406.880017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5625889999999 # Actual altitude: 75 # Commanded vehicle depth:1405.313716 # Seafloor depth:-1476.876305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.270342 meters # Minimum depth: 1473.862560 meters looking forward 100.000000 meters along route # Maximum depth: 1475.259477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.862560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981303; longitude = -129.992414; captureRadius = 10; duration = 101; initialDepth = 1403.862560; finalDepth = 1405.313716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5625889999999 # Actual altitude: 75 # Commanded vehicle depth:1403.86256 # Seafloor depth:-1475.259477 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.270937 meters # Minimum depth: 1473.778505 meters looking forward 100.000000 meters along route # Maximum depth: 1474.502293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.778505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980659; longitude = -129.993338; captureRadius = 10; duration = 101; initialDepth = 1403.778505; finalDepth = 1403.862560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.396917 # Actual altitude: 100 # Commanded vehicle depth:1378.778505 # Seafloor depth:-1473.782468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.271533 meters # Minimum depth: 1473.185783 meters looking forward 100.000000 meters along route # Maximum depth: 1474.459542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1378.185783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980014; longitude = -129.994262; captureRadius = 10; duration = 101; initialDepth = 1378.185783; finalDepth = 1378.778505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.2737590000002 # Actual altitude: 100 # Commanded vehicle depth:1378.185783 # Seafloor depth:-1474.459542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.515120 meters # Minimum depth: 1470.688113 meters looking forward 100.000000 meters along route # Maximum depth: 1473.204420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1375.688113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979369; longitude = -129.995186; captureRadius = 10; duration = 102; initialDepth = 1375.688113; finalDepth = 1378.185783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.5163070000001 # Actual altitude: 100 # Commanded vehicle depth:1375.688113 # Seafloor depth:-1473.204420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.029731 meters # Minimum depth: 1470.896585 meters looking forward 100.000000 meters along route # Maximum depth: 1484.770346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1375.896585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978717; longitude = -129.996121; captureRadius = 10; duration = 100; initialDepth = 1375.896585; finalDepth = 1375.688113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.5163070000001 # Actual altitude: 100 # Commanded vehicle depth:1375.896585 # Seafloor depth:-1470.896585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.273318 meters # Minimum depth: 1485.082904 meters looking forward 100.000000 meters along route # Maximum depth: 1535.049341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1415.082904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978080; longitude = -129.997034; captureRadius = 10; duration = 101; initialDepth = 1415.082904; finalDepth = 1400.896585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1415.082904 # Seafloor depth:-1485.082904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.273914 meters # Minimum depth: 1536.907839 meters looking forward 100.000000 meters along route # Maximum depth: 1552.140012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1466.907839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977435; longitude = -129.997958; captureRadius = 10; duration = 101; initialDepth = 1466.907839; finalDepth = 1415.082904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1466.907839 # Seafloor depth:-1536.907839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 107.295115 meters # Minimum depth: 1549.821870 meters looking forward 100.000000 meters along route # Maximum depth: 1551.895172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1479.821870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976790; longitude = -129.998882; captureRadius = 10; duration = 107; initialDepth = 1479.821870; finalDepth = 1466.907839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.073302 # Actual altitude: 75 # Commanded vehicle depth:1479.82187 # Seafloor depth:-1551.895172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.551246 meters # Minimum depth: 1552.071981 meters looking forward 100.000000 meters along route # Maximum depth: 1554.805986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1482.071981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976107; longitude = -129.999861; captureRadius = 10; duration = 100; initialDepth = 1482.071981; finalDepth = 1479.821870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.073302 # Actual altitude: 75 # Commanded vehicle depth:1482.071981 # Seafloor depth:-1552.071981 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 74.436086 meters # Minimum depth: 1554.366745 meters looking forward 100.000000 meters along route # Maximum depth: 1555.339038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1459.366745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975467; longitude = -130.000778; captureRadius = 10; duration = 74; initialDepth = 1459.366745; finalDepth = 1457.071981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5065460000001 # Actual altitude: 100 # Commanded vehicle depth:1459.366745 # Seafloor depth:-1554.873291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.802213 meters # Minimum depth: 1554.591253 meters looking forward 100.000000 meters along route # Maximum depth: 1555.764478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1459.591253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976017; longitude = -130.001328; captureRadius = 10; duration = 104; initialDepth = 1459.591253; finalDepth = 1459.366745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.925399 # Actual altitude: 100 # Commanded vehicle depth:1459.591253 # Seafloor depth:-1555.516652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.801757 meters # Minimum depth: 1555.930068 meters looking forward 100.000000 meters along route # Maximum depth: 1560.219139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1460.930068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976790; longitude = -130.002101; captureRadius = 10; duration = 104; initialDepth = 1460.930068; finalDepth = 1459.591253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.925399 # Actual altitude: 100 # Commanded vehicle depth:1460.930068 # Seafloor depth:-1555.930068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.801302 meters # Minimum depth: 1560.762438 meters looking forward 100.000000 meters along route # Maximum depth: 1566.040969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1465.762438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977564; longitude = -130.002875; captureRadius = 10; duration = 104; initialDepth = 1465.762438; finalDepth = 1460.930068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:1465.762438 # Seafloor depth:-1560.762438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.800845 meters # Minimum depth: 1566.090968 meters looking forward 100.000000 meters along route # Maximum depth: 1572.861513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1471.090968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978338; longitude = -130.003649; captureRadius = 10; duration = 104; initialDepth = 1471.090968; finalDepth = 1465.762438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:1471.090968 # Seafloor depth:-1566.090968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.800389 meters # Minimum depth: 1573.300639 meters looking forward 100.000000 meters along route # Maximum depth: 1579.591429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1478.300639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979111; longitude = -130.004422; captureRadius = 10; duration = 104; initialDepth = 1478.300639; finalDepth = 1471.090968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:1478.300639 # Seafloor depth:-1573.300639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.501649 meters # Minimum depth: 1580.750459 meters looking forward 100.000000 meters along route # Maximum depth: 1588.404296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1485.750459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979885; longitude = -130.005196; captureRadius = 10; duration = 100; initialDepth = 1485.750459; finalDepth = 1478.300639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:1485.750459 # Seafloor depth:-1580.750459 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 62.266220 meters # Minimum depth: 1585.770436 meters looking forward 100.000000 meters along route # Maximum depth: 1588.599266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1490.770436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980627; longitude = -130.005938; captureRadius = 10; duration = 62; initialDepth = 1490.770436; finalDepth = 1485.750459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.810741 # Actual altitude: 100 # Commanded vehicle depth:1490.770436 # Seafloor depth:-1588.581177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.650627 meters # Minimum depth: 1587.578207 meters looking forward 100.000000 meters along route # Maximum depth: 1588.520808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1492.578207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981175; longitude = -130.006109; captureRadius = 10; duration = 102; initialDepth = 1492.578207; finalDepth = 1490.770436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.810741 # Actual altitude: 100 # Commanded vehicle depth:1492.578207 # Seafloor depth:-1587.842880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.650571 meters # Minimum depth: 1587.442182 meters looking forward 100.000000 meters along route # Maximum depth: 1589.452408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1492.442182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982077; longitude = -130.006391; captureRadius = 10; duration = 102; initialDepth = 1492.442182; finalDepth = 1492.578207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.2646729999999 # Actual altitude: 100 # Commanded vehicle depth:1492.442182 # Seafloor depth:-1587.442182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 101.754520 meters # Minimum depth: 1588.114980 meters looking forward 100.000000 meters along route # Maximum depth: 1588.677285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1493.114980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982980; longitude = -130.006673; captureRadius = 10; duration = 101; initialDepth = 1493.114980; finalDepth = 1492.442182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95 # Actual altitude: 100 # Commanded vehicle depth:1493.11498 # Seafloor depth:-1588.114980 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.118626 meters # Minimum depth: 1588.233635 meters looking forward 100.000000 meters along route # Maximum depth: 1589.730874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1493.233635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983875; longitude = -130.006953; captureRadius = 10; duration = 100; initialDepth = 1493.233635; finalDepth = 1493.114980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5093079999999 # Actual altitude: 100 # Commanded vehicle depth:1493.233635 # Seafloor depth:-1588.742943 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 36.608162 meters # Minimum depth: 1588.233635 meters looking forward 100.000000 meters along route # Maximum depth: 1589.796692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1493.233635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984755; longitude = -130.007228; captureRadius = 10; duration = 36; initialDepth = 1493.233635; finalDepth = 1493.233635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.5630569999998 # Actual altitude: 100 # Commanded vehicle depth:1493.233635 # Seafloor depth:-1589.796692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.474377 meters # Minimum depth: 1587.577522 meters looking forward 100.000000 meters along route # Maximum depth: 1588.815977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1492.577522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985039; longitude = -130.007469; captureRadius = 10; duration = 100; initialDepth = 1492.577522; finalDepth = 1493.233635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.5630569999998 # Actual altitude: 100 # Commanded vehicle depth:1492.577522 # Seafloor depth:-1588.815977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 116.541469 meters # Minimum depth: 1587.044794 meters looking forward 100.000000 meters along route # Maximum depth: 1589.617394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1492.044794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985817; longitude = -130.008129; captureRadius = 10; duration = 116; initialDepth = 1492.044794; finalDepth = 1492.577522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.2384549999999 # Actual altitude: 100 # Commanded vehicle depth:1492.044794 # Seafloor depth:-1587.406186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 116.541004 meters # Minimum depth: 1584.193327 meters looking forward 100.000000 meters along route # Maximum depth: 1589.591772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1489.193327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986719; longitude = -130.008895; captureRadius = 10; duration = 116; initialDepth = 1489.193327; finalDepth = 1492.044794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.398445 # Actual altitude: 100 # Commanded vehicle depth:1489.193327 # Seafloor depth:-1589.591772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 107.283287 meters # Minimum depth: 1583.266736 meters looking forward 100.000000 meters along route # Maximum depth: 1584.188263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1488.266736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987622; longitude = -130.009662; captureRadius = 10; duration = 107; initialDepth = 1488.266736; finalDepth = 1489.193327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.398445 # Actual altitude: 100 # Commanded vehicle depth:1488.266736 # Seafloor depth:-1584.188263 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 75.494823 meters # Minimum depth: 1583.351522 meters looking forward 100.000000 meters along route # Maximum depth: 1584.069284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1488.351522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988453; longitude = -130.010367; captureRadius = 10; duration = 75; initialDepth = 1488.351522; finalDepth = 1488.266736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.921527 # Actual altitude: 100 # Commanded vehicle depth:1488.351522 # Seafloor depth:-1583.702545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 113.878129 meters # Minimum depth: 1582.026106 meters looking forward 100.000000 meters along route # Maximum depth: 1584.026171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1487.026106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989041; longitude = -130.010857; captureRadius = 10; duration = 113; initialDepth = 1487.026106; finalDepth = 1488.351522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0000649999999 # Actual altitude: 100 # Commanded vehicle depth:1487.026106 # Seafloor depth:-1584.026171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.534492 meters # Minimum depth: 1581.533679 meters looking forward 100.000000 meters along route # Maximum depth: 1583.634590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1486.533679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989927; longitude = -130.011595; captureRadius = 10; duration = 101; initialDepth = 1486.533679; finalDepth = 1487.026106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.0000649999999 # Actual altitude: 100 # Commanded vehicle depth:1486.533679 # Seafloor depth:-1581.857729 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.930457 meters # Minimum depth: 1579.623836 meters looking forward 100.000000 meters along route # Maximum depth: 1583.434062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 95.000000 meters # Minimum vehicle altitude: 100.000000 meters # Behavior depth of 1484.623836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990717; longitude = -130.012254; captureRadius = 10; duration = 106; initialDepth = 1484.623836; finalDepth = 1486.533679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.8102260000001 # Actual altitude: 100 # Commanded vehicle depth:1484.623836 # Seafloor depth:-1583.434062 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 76.850953 meters # Minimum depth: 1579.510620 meters looking forward 100.000000 meters along route # Maximum depth: 1580.932389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.510620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991549; longitude = -130.012947; captureRadius = 10; duration = 76; initialDepth = 1509.510620; finalDepth = 1509.623836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8102260000001 # Actual altitude: 75 # Commanded vehicle depth:1509.51062 # Seafloor depth:-1579.510620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 108.058065 meters # Minimum depth: 1581.244233 meters looking forward 100.000000 meters along route # Maximum depth: 1582.541733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1511.244233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991388; longitude = -130.011982; captureRadius = 10; duration = 108; initialDepth = 1511.244233; finalDepth = 1509.510620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1511.244233 # Seafloor depth:-1581.244233 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 69.691707 meters # Minimum depth: 1582.078949 meters looking forward 100.000000 meters along route # Maximum depth: 1583.657353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.078949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991162; longitude = -130.010625; captureRadius = 10; duration = 69; initialDepth = 1512.078949; finalDepth = 1511.244233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1512.078949 # Seafloor depth:-1582.078949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 108.966042 meters # Minimum depth: 1582.470942 meters looking forward 100.000000 meters along route # Maximum depth: 1584.120499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1512.470942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990681; longitude = -130.010048; captureRadius = 10; duration = 108; initialDepth = 1512.470942; finalDepth = 1512.078949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.329324 # Actual altitude: 75 # Commanded vehicle depth:1512.470942 # Seafloor depth:-1583.800266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.648858 meters # Minimum depth: 1581.776833 meters looking forward 100.000000 meters along route # Maximum depth: 1582.836196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1511.776833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989929; longitude = -130.009145; captureRadius = 10; duration = 101; initialDepth = 1511.776833; finalDepth = 1512.470942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.329324 # Actual altitude: 75 # Commanded vehicle depth:1511.776833 # Seafloor depth:-1582.640643 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 58.820560 meters # Minimum depth: 1581.776833 meters looking forward 100.000000 meters along route # Maximum depth: 1583.282830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1511.776833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989227; longitude = -130.008303; captureRadius = 10; duration = 58; initialDepth = 1511.776833; finalDepth = 1511.776833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8638100000001 # Actual altitude: 75 # Commanded vehicle depth:1511.776833 # Seafloor depth:-1582.133087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.407508 meters # Minimum depth: 1583.589266 meters looking forward 100.000000 meters along route # Maximum depth: 1588.093228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1513.589266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988783; longitude = -130.007890; captureRadius = 10; duration = 102; initialDepth = 1513.589266; finalDepth = 1511.776833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.356254 # Actual altitude: 75 # Commanded vehicle depth:1513.589266 # Seafloor depth:-1583.589266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.744521 meters # Minimum depth: 1588.129829 meters looking forward 100.000000 meters along route # Maximum depth: 1588.955151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.129829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988009; longitude = -130.007172; captureRadius = 10; duration = 104; initialDepth = 1518.129829; finalDepth = 1513.589266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.055304 # Actual altitude: 75 # Commanded vehicle depth:1518.129829 # Seafloor depth:-1588.185133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.285898 meters # Minimum depth: 1588.178385 meters looking forward 100.000000 meters along route # Maximum depth: 1588.692453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.178385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987218; longitude = -130.006437; captureRadius = 10; duration = 110; initialDepth = 1518.178385; finalDepth = 1518.129829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.055304 # Actual altitude: 75 # Commanded vehicle depth:1518.178385 # Seafloor depth:-1588.218819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.829761 meters # Minimum depth: 1587.700800 meters looking forward 100.000000 meters along route # Maximum depth: 1589.026582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1517.700800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986384; longitude = -130.005663; captureRadius = 10; duration = 101; initialDepth = 1517.700800; finalDepth = 1518.178385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3916139999999 # Actual altitude: 75 # Commanded vehicle depth:1517.7008 # Seafloor depth:-1588.092414 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 65.246117 meters # Minimum depth: 1588.761089 meters looking forward 100.000000 meters along route # Maximum depth: 1589.549054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.761089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985615; longitude = -130.004949; captureRadius = 10; duration = 65; initialDepth = 1518.761089; finalDepth = 1517.700800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3916139999999 # Actual altitude: 75 # Commanded vehicle depth:1518.761089 # Seafloor depth:-1589.089783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.970296 meters # Minimum depth: 1588.304216 meters looking forward 100.000000 meters along route # Maximum depth: 1589.431932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.304216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985043; longitude = -130.004758; captureRadius = 10; duration = 102; initialDepth = 1518.304216; finalDepth = 1518.761089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6959870000001 # Actual altitude: 75 # Commanded vehicle depth:1518.304216 # Seafloor depth:-1589.000203 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.970362 meters # Minimum depth: 1588.364430 meters looking forward 100.000000 meters along route # Maximum depth: 1589.112496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1518.364430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984140; longitude = -130.004457; captureRadius = 10; duration = 102; initialDepth = 1518.364430; finalDepth = 1518.304216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6959870000001 # Actual altitude: 75 # Commanded vehicle depth:1518.36443 # Seafloor depth:-1588.364430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.970427 meters # Minimum depth: 1587.495665 meters looking forward 100.000000 meters along route # Maximum depth: 1589.458760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1517.495665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983238; longitude = -130.004157; captureRadius = 10; duration = 102; initialDepth = 1517.495665; finalDepth = 1518.364430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9630950000001 # Actual altitude: 75 # Commanded vehicle depth:1517.495665 # Seafloor depth:-1589.458760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 111.461664 meters # Minimum depth: 1587.890043 meters looking forward 100.000000 meters along route # Maximum depth: 1589.598104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1517.890043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982335; longitude = -130.003856; captureRadius = 10; duration = 111; initialDepth = 1517.890043; finalDepth = 1517.495665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9630950000001 # Actual altitude: 75 # Commanded vehicle depth:1517.890043 # Seafloor depth:-1587.890043 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 44.131541 meters # Minimum depth: 1587.225397 meters looking forward 100.000000 meters along route # Maximum depth: 1590.460001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1517.225397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981358; longitude = -130.003530; captureRadius = 10; duration = 44; initialDepth = 1517.225397; finalDepth = 1517.890043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7238830000001 # Actual altitude: 75 # Commanded vehicle depth:1517.225397 # Seafloor depth:-1589.949280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.048844 meters # Minimum depth: 1579.512202 meters looking forward 100.000000 meters along route # Maximum depth: 1587.191245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1509.512202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981028; longitude = -130.003213; captureRadius = 10; duration = 101; initialDepth = 1509.512202; finalDepth = 1517.225397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6790430000001 # Actual altitude: 77.6790430000001 # Commanded vehicle depth:1509.512202 # Seafloor depth:-1587.191245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 186.43; MB_Bottom_Detect_Filter_Min_Depth = 38.84; MB_Bottom_Detect_Filter_Max_Depth = 186.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.420504 meters # Minimum depth: 1563.178608 meters looking forward 100.000000 meters along route # Maximum depth: 1575.329020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1493.178608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980272; longitude = -130.002488; captureRadius = 10; duration = 103; initialDepth = 1493.178608; finalDepth = 1509.512202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.150412 # Actual altitude: 82.150412 # Commanded vehicle depth:1493.178608 # Seafloor depth:-1575.329020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 197.16; MB_Bottom_Detect_Filter_Min_Depth = 41.08; MB_Bottom_Detect_Filter_Max_Depth = 197.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 103.420929 meters # Minimum depth: 1560.362557 meters looking forward 100.000000 meters along route # Maximum depth: 1562.702516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1490.362557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979498; longitude = -130.001746; captureRadius = 10; duration = 103; initialDepth = 1490.362557; finalDepth = 1493.178608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.150412 # Actual altitude: 82.150412 # Commanded vehicle depth:1490.362557 # Seafloor depth:-1562.702516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 197.16; MB_Bottom_Detect_Filter_Min_Depth = 41.08; MB_Bottom_Detect_Filter_Max_Depth = 197.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 105.425884 meters # Minimum depth: 1558.939584 meters looking forward 100.000000 meters along route # Maximum depth: 1560.313412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1488.939584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978724; longitude = -130.001004; captureRadius = 10; duration = 105; initialDepth = 1488.939584; finalDepth = 1490.362557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3399590000001 # Actual altitude: 75 # Commanded vehicle depth:1488.939584 # Seafloor depth:-1560.313412 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 105.838394 meters # Minimum depth: 1556.365528 meters looking forward 100.000000 meters along route # Maximum depth: 1558.773688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1486.365528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977936; longitude = -130.000247; captureRadius = 10; duration = 105; initialDepth = 1486.365528; finalDepth = 1488.939584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.40816 # Actual altitude: 75 # Commanded vehicle depth:1486.365528 # Seafloor depth:-1558.773688 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 46.023919 meters # Minimum depth: 1553.640198 meters looking forward 100.000000 meters along route # Maximum depth: 1556.871846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1483.640198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977144; longitude = -129.999488; captureRadius = 10; duration = 46; initialDepth = 1483.640198; finalDepth = 1486.365528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8405760000001 # Actual altitude: 75 # Commanded vehicle depth:1483.640198 # Seafloor depth:-1556.480774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 111.030995 meters # Minimum depth: 1543.689360 meters looking forward 100.000000 meters along route # Maximum depth: 1553.376395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1473.689360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976776; longitude = -129.999216; captureRadius = 10; duration = 111; initialDepth = 1473.689360; finalDepth = 1483.640198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6870349999999 # Actual altitude: 79.6870349999999 # Commanded vehicle depth:1473.68936 # Seafloor depth:-1553.376395 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 191.25; MB_Bottom_Detect_Filter_Min_Depth = 39.84; MB_Bottom_Detect_Filter_Max_Depth = 191.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 112.832930 meters # Minimum depth: 1540.281767 meters looking forward 100.000000 meters along route # Maximum depth: 1543.560562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1470.281767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975888; longitude = -129.998559; captureRadius = 10; duration = 112; initialDepth = 1470.281767; finalDepth = 1473.689360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6870349999999 # Actual altitude: 79.6870349999999 # Commanded vehicle depth:1470.281767 # Seafloor depth:-1543.560562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 191.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 191.25; MB_Bottom_Detect_Filter_Min_Depth = 39.84; MB_Bottom_Detect_Filter_Max_Depth = 191.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.991519 meters # Minimum depth: 1537.689101 meters looking forward 100.000000 meters along route # Maximum depth: 1540.219368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1467.689101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974985; longitude = -129.997892; captureRadius = 10; duration = 100; initialDepth = 1467.689101; finalDepth = 1470.281767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2787949999999 # Actual altitude: 75 # Commanded vehicle depth:1467.689101 # Seafloor depth:-1540.219368 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 11.163601 meters # Minimum depth: 1537.484571 meters looking forward 100.000000 meters along route # Maximum depth: 1539.874410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1467.484571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974177; longitude = -129.997295; captureRadius = 10; duration = 11; initialDepth = 1467.484571; finalDepth = 1467.689101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5302670000001 # Actual altitude: 75 # Commanded vehicle depth:1467.484571 # Seafloor depth:-1537.764099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.131381 meters # Minimum depth: 1521.995439 meters looking forward 100.000000 meters along route # Maximum depth: 1537.162270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1451.995439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974193; longitude = -129.997153; captureRadius = 10; duration = 101; initialDepth = 1451.995439; finalDepth = 1467.484571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.166831 # Actual altitude: 85.166831 # Commanded vehicle depth:1451.995439 # Seafloor depth:-1537.162270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.58; MB_Bottom_Detect_Filter_Max_Range = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 42.58; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 101.131111 meters # Minimum depth: 1478.455787 meters looking forward 100.000000 meters along route # Maximum depth: 1517.241122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.455787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974334; longitude = -129.995863; captureRadius = 10; duration = 101; initialDepth = 1408.455787; finalDepth = 1451.995439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.785335 # Actual altitude: 100 # Commanded vehicle depth:1408.455787 # Seafloor depth:-1517.241122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.044108 meters # Minimum depth: 1474.018883 meters looking forward 100.000000 meters along route # Maximum depth: 1477.508994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.018883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974475; longitude = -129.994574; captureRadius = 10; duration = 104; initialDepth = 1404.018883; finalDepth = 1408.455787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.785335 # Actual altitude: 100 # Commanded vehicle depth:1404.018883 # Seafloor depth:-1477.508994 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 13.246228 meters # Minimum depth: 1473.992310 meters looking forward 100.000000 meters along route # Maximum depth: 1475.111368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.992310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974621; longitude = -129.993247; captureRadius = 10; duration = 13; initialDepth = 1403.992310; finalDepth = 1404.018883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4901110000001 # Actual altitude: 75 # Commanded vehicle depth:1403.99231 # Seafloor depth:-1473.992310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.284657 meters # Minimum depth: 1474.631549 meters looking forward 100.000000 meters along route # Maximum depth: 1475.864447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.631549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974727; longitude = -129.993325; captureRadius = 10; duration = 102; initialDepth = 1404.631549; finalDepth = 1403.992310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1404.631549 # Seafloor depth:-1474.631549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.236950 meters # Minimum depth: 1473.171501 meters looking forward 100.000000 meters along route # Maximum depth: 1476.603081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.171501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975546; longitude = -129.993929; captureRadius = 10; duration = 109; initialDepth = 1403.171501; finalDepth = 1404.631549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.948056 # Actual altitude: 75 # Commanded vehicle depth:1403.171501 # Seafloor depth:-1476.119557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.703172 meters # Minimum depth: 1472.541338 meters looking forward 100.000000 meters along route # Maximum depth: 1473.256320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1402.541338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976420; longitude = -129.994574; captureRadius = 10; duration = 110; initialDepth = 1402.541338; finalDepth = 1403.171501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.948056 # Actual altitude: 75 # Commanded vehicle depth:1402.541338 # Seafloor depth:-1473.144382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.777982 meters # Minimum depth: 1470.549429 meters looking forward 100.000000 meters along route # Maximum depth: 1472.518075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1400.549429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977306; longitude = -129.995227; captureRadius = 10; duration = 112; initialDepth = 1400.549429; finalDepth = 1402.541338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.968646 # Actual altitude: 75 # Commanded vehicle depth:1400.549429 # Seafloor depth:-1472.518075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.777624 meters # Minimum depth: 1470.428470 meters looking forward 100.000000 meters along route # Maximum depth: 1471.595991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1400.428470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978209; longitude = -129.995893; captureRadius = 10; duration = 112; initialDepth = 1400.428470; finalDepth = 1400.549429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.968646 # Actual altitude: 75 # Commanded vehicle depth:1400.42847 # Seafloor depth:-1471.314624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.685658 meters # Minimum depth: 1470.109892 meters looking forward 100.000000 meters along route # Maximum depth: 1470.923542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1400.109892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979111; longitude = -129.996558; captureRadius = 10; duration = 100; initialDepth = 1400.109892; finalDepth = 1400.428470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.886154 # Actual altitude: 75 # Commanded vehicle depth:1400.109892 # Seafloor depth:-1470.322041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.235269 meters # Minimum depth: 1471.013384 meters looking forward 100.000000 meters along route # Maximum depth: 1471.636989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1401.013384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979917; longitude = -129.997153; captureRadius = 10; duration = 109; initialDepth = 1401.013384; finalDepth = 1400.109892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.212149 # Actual altitude: 75 # Commanded vehicle depth:1401.013384 # Seafloor depth:-1471.013384 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.298882 meters # Minimum depth: 1471.224709 meters looking forward 100.000000 meters along route # Maximum depth: 1473.038402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1401.224709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980792; longitude = -129.997797; captureRadius = 10; duration = 112; initialDepth = 1401.224709; finalDepth = 1401.013384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1401.224709 # Seafloor depth:-1471.224709 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.776242 meters # Minimum depth: 1473.142797 meters looking forward 100.000000 meters along route # Maximum depth: 1476.084911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.142797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981690; longitude = -129.998460; captureRadius = 10; duration = 112; initialDepth = 1403.142797; finalDepth = 1401.224709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1403.142797 # Seafloor depth:-1473.142797 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.628667 meters # Minimum depth: 1476.164512 meters looking forward 100.000000 meters along route # Maximum depth: 1477.895680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.164512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982593; longitude = -129.999126; captureRadius = 10; duration = 102; initialDepth = 1406.164512; finalDepth = 1403.142797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1406.164512 # Seafloor depth:-1476.164512 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.233925 meters # Minimum depth: 1477.492368 meters looking forward 100.000000 meters along route # Maximum depth: 1482.555230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.492368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983414; longitude = -129.999732; captureRadius = 10; duration = 109; initialDepth = 1407.492368; finalDepth = 1406.164512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3393100000001 # Actual altitude: 75 # Commanded vehicle depth:1407.492368 # Seafloor depth:-1477.831678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 110.353269 meters # Minimum depth: 1478.435377 meters looking forward 100.000000 meters along route # Maximum depth: 1483.158209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.435377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984289; longitude = -130.000376; captureRadius = 10; duration = 110; initialDepth = 1408.435377; finalDepth = 1407.492368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1969200000001 # Actual altitude: 75 # Commanded vehicle depth:1408.435377 # Seafloor depth:-1482.632297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.774861 meters # Minimum depth: 1478.298963 meters looking forward 100.000000 meters along route # Maximum depth: 1480.898079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.298963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985172; longitude = -130.001028; captureRadius = 10; duration = 112; initialDepth = 1408.298963; finalDepth = 1408.435377; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1969200000001 # Actual altitude: 75 # Commanded vehicle depth:1408.298963 # Seafloor depth:-1479.301633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.774502 meters # Minimum depth: 1477.937159 meters looking forward 100.000000 meters along route # Maximum depth: 1478.743176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.937159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986075; longitude = -130.001693; captureRadius = 10; duration = 112; initialDepth = 1407.937159; finalDepth = 1408.298963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0026700000001 # Actual altitude: 75 # Commanded vehicle depth:1407.937159 # Seafloor depth:-1478.222044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.029707 meters # Minimum depth: 1478.625340 meters looking forward 100.000000 meters along route # Maximum depth: 1481.779742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.625340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986977; longitude = -130.002359; captureRadius = 10; duration = 101; initialDepth = 1408.625340; finalDepth = 1407.937159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.284885 # Actual altitude: 75 # Commanded vehicle depth:1408.62534 # Seafloor depth:-1478.877447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.232245 meters # Minimum depth: 1477.181938 meters looking forward 100.000000 meters along route # Maximum depth: 1481.212886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.181938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987786; longitude = -130.002955; captureRadius = 10; duration = 109; initialDepth = 1407.181938; finalDepth = 1408.625340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0309480000001 # Actual altitude: 75 # Commanded vehicle depth:1407.181938 # Seafloor depth:-1481.212886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 111.948939 meters # Minimum depth: 1478.825159 meters looking forward 100.000000 meters along route # Maximum depth: 1481.101200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.825159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988660; longitude = -130.003600; captureRadius = 10; duration = 111; initialDepth = 1408.825159; finalDepth = 1407.181938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0309480000001 # Actual altitude: 75 # Commanded vehicle depth:1408.825159 # Seafloor depth:-1478.825159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.280473 meters # Minimum depth: 1479.702791 meters looking forward 100.000000 meters along route # Maximum depth: 1481.675302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.702791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989556; longitude = -130.004261; captureRadius = 10; duration = 109; initialDepth = 1409.702791; finalDepth = 1408.825159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1409.702791 # Seafloor depth:-1479.702791 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 94.190787 meters # Minimum depth: 1481.675302 meters looking forward 100.000000 meters along route # Maximum depth: 1484.625102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.675302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990431; longitude = -130.004906; captureRadius = 10; duration = 94; initialDepth = 1411.675302; finalDepth = 1409.702791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1805939999999 # Actual altitude: 75 # Commanded vehicle depth:1411.675302 # Seafloor depth:-1481.855896 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.697530 meters # Minimum depth: 1482.163938 meters looking forward 100.000000 meters along route # Maximum depth: 1483.582339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.163938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991104; longitude = -130.005646; captureRadius = 10; duration = 100; initialDepth = 1412.163938; finalDepth = 1411.675302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8445000000002 # Actual altitude: 75 # Commanded vehicle depth:1412.163938 # Seafloor depth:-1483.008438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.147907 meters # Minimum depth: 1475.874015 meters looking forward 100.000000 meters along route # Maximum depth: 1484.052705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.874015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991823; longitude = -130.006437; captureRadius = 10; duration = 106; initialDepth = 1405.874015; finalDepth = 1412.163938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0861869999999 # Actual altitude: 78.0861869999999 # Commanded vehicle depth:1405.874015 # Seafloor depth:-1483.960202 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 187.41; MB_Bottom_Detect_Filter_Min_Depth = 39.04; MB_Bottom_Detect_Filter_Max_Depth = 187.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 6.638748 meters # Minimum depth: 1475.168671 meters looking forward 100.000000 meters along route # Maximum depth: 1484.004818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.168671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992581; longitude = -130.007271; captureRadius = 10; duration = 6; initialDepth = 1405.168671; finalDepth = 1405.874015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.0861869999999 # Actual altitude: 78.0861869999999 # Commanded vehicle depth:1405.168671 # Seafloor depth:-1475.168671 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 187.41; MB_Bottom_Detect_Filter_Min_Depth = 39.04; MB_Bottom_Detect_Filter_Max_Depth = 187.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.305660 meters # Minimum depth: 1469.258120 meters looking forward 100.000000 meters along route # Maximum depth: 1474.401151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1399.258120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992617; longitude = -130.007340; captureRadius = 10; duration = 102; initialDepth = 1399.258120; finalDepth = 1405.168671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1430310000001 # Actual altitude: 75.1430310000001 # Commanded vehicle depth:1399.25812 # Seafloor depth:-1474.401151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 180.34; MB_Bottom_Detect_Filter_Min_Depth = 37.57; MB_Bottom_Detect_Filter_Max_Depth = 180.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.438559 meters # Minimum depth: 1469.211622 meters looking forward 100.000000 meters along route # Maximum depth: 1471.061846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1399.211622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993167; longitude = -130.008399; captureRadius = 10; duration = 109; initialDepth = 1399.211622; finalDepth = 1399.258120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1430310000001 # Actual altitude: 75.1430310000001 # Commanded vehicle depth:1399.211622 # Seafloor depth:-1469.313131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 180.34; MB_Bottom_Detect_Filter_Min_Depth = 37.57; MB_Bottom_Detect_Filter_Max_Depth = 180.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.431581 meters # Minimum depth: 1468.137279 meters looking forward 100.000000 meters along route # Maximum depth: 1482.214535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1398.137279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993755; longitude = -130.009532; captureRadius = 10; duration = 101; initialDepth = 1398.137279; finalDepth = 1399.211622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.38984 # Actual altitude: 75 # Commanded vehicle depth:1398.137279 # Seafloor depth:-1468.527119 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 54.207249 meters # Minimum depth: 1474.682495 meters looking forward 100.000000 meters along route # Maximum depth: 1483.056976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.682495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994301; longitude = -130.010582; captureRadius = 10; duration = 54; initialDepth = 1404.682495; finalDepth = 1398.137279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3744810000001 # Actual altitude: 78.3744810000001 # Commanded vehicle depth:1404.682495 # Seafloor depth:-1483.056976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 188.10; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 188.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 107.334521 meters # Minimum depth: 1482.050275 meters looking forward 100.000000 meters along route # Maximum depth: 1483.137331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.050275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994585; longitude = -130.010013; captureRadius = 10; duration = 107; initialDepth = 1412.050275; finalDepth = 1404.682495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3744810000001 # Actual altitude: 78.3744810000001 # Commanded vehicle depth:1412.050275 # Seafloor depth:-1482.431738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 188.10; MB_Bottom_Detect_Filter_Min_Depth = 39.19; MB_Bottom_Detect_Filter_Max_Depth = 188.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.953779 meters # Minimum depth: 1483.357809 meters looking forward 100.000000 meters along route # Maximum depth: 1489.919472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.357809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995148; longitude = -130.008887; captureRadius = 10; duration = 108; initialDepth = 1413.357809; finalDepth = 1412.050275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3814629999999 # Actual altitude: 75 # Commanded vehicle depth:1413.357809 # Seafloor depth:-1483.357809 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 96.402498 meters # Minimum depth: 1478.044020 meters looking forward 100.000000 meters along route # Maximum depth: 1489.828461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.044020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995720; longitude = -130.007744; captureRadius = 10; duration = 96; initialDepth = 1408.044020; finalDepth = 1413.357809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.784441 # Actual altitude: 81.784441 # Commanded vehicle depth:1408.04402 # Seafloor depth:-1489.828461 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.89; MB_Bottom_Detect_Filter_Max_Range = 196.28; MB_Bottom_Detect_Filter_Min_Depth = 40.89; MB_Bottom_Detect_Filter_Max_Depth = 196.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.440580 meters # Minimum depth: 1477.014587 meters looking forward 100.000000 meters along route # Maximum depth: 1484.038657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.014587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995101; longitude = -130.006872; captureRadius = 10; duration = 100; initialDepth = 1407.014587; finalDepth = 1408.044020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.784441 # Actual altitude: 81.784441 # Commanded vehicle depth:1407.014587 # Seafloor depth:-1477.459229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.89; MB_Bottom_Detect_Filter_Max_Range = 196.28; MB_Bottom_Detect_Filter_Min_Depth = 40.89; MB_Bottom_Detect_Filter_Max_Depth = 196.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.301287 meters # Minimum depth: 1485.285841 meters looking forward 100.000000 meters along route # Maximum depth: 1490.408245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1415.285841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994456; longitude = -130.005963; captureRadius = 10; duration = 104; initialDepth = 1415.285841; finalDepth = 1407.014587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4446420000002 # Actual altitude: 75 # Commanded vehicle depth:1415.285841 # Seafloor depth:-1485.285841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 107.472711 meters # Minimum depth: 1486.335622 meters looking forward 100.000000 meters along route # Maximum depth: 1488.253519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.335622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993787; longitude = -130.005019; captureRadius = 10; duration = 107; initialDepth = 1416.335622; finalDepth = 1415.285841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.917897 # Actual altitude: 75 # Commanded vehicle depth:1416.335622 # Seafloor depth:-1488.253519 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 39.645029 meters # Minimum depth: 1486.335622 meters looking forward 100.000000 meters along route # Maximum depth: 1487.054034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.335622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993097; longitude = -130.004046; captureRadius = 10; duration = 39; initialDepth = 1416.335622; finalDepth = 1416.335622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.917897 # Actual altitude: 75 # Commanded vehicle depth:1416.335622 # Seafloor depth:-1486.582336 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.773843 meters # Minimum depth: 1483.212216 meters looking forward 100.000000 meters along route # Maximum depth: 1486.371137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.212216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992780; longitude = -130.003811; captureRadius = 10; duration = 100; initialDepth = 1413.212216; finalDepth = 1416.335622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1589210000002 # Actual altitude: 75 # Commanded vehicle depth:1413.212216 # Seafloor depth:-1486.371137 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.917487 meters # Minimum depth: 1482.425550 meters looking forward 100.000000 meters along route # Maximum depth: 1484.837794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.425550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991974; longitude = -130.003213; captureRadius = 10; duration = 108; initialDepth = 1412.425550; finalDepth = 1413.212216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1589210000002 # Actual altitude: 75 # Commanded vehicle depth:1412.42555 # Seafloor depth:-1484.455752 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.911233 meters # Minimum depth: 1481.545429 meters looking forward 100.000000 meters along route # Maximum depth: 1482.629954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.545429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991104; longitude = -130.002567; captureRadius = 10; duration = 112; initialDepth = 1411.545429; finalDepth = 1412.425550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0302020000001 # Actual altitude: 75 # Commanded vehicle depth:1411.545429 # Seafloor depth:-1482.629954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.911595 meters # Minimum depth: 1479.248180 meters looking forward 100.000000 meters along route # Maximum depth: 1482.208650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.248180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990201; longitude = -130.001898; captureRadius = 10; duration = 112; initialDepth = 1409.248180; finalDepth = 1411.545429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8949379999999 # Actual altitude: 75 # Commanded vehicle depth:1409.24818 # Seafloor depth:-1482.143118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.173471 meters # Minimum depth: 1477.160897 meters looking forward 100.000000 meters along route # Maximum depth: 1480.827752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.160897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989298; longitude = -130.001228; captureRadius = 10; duration = 100; initialDepth = 1407.160897; finalDepth = 1409.248180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8949379999999 # Actual altitude: 75 # Commanded vehicle depth:1407.160897 # Seafloor depth:-1478.976005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.520453 meters # Minimum depth: 1477.348596 meters looking forward 100.000000 meters along route # Maximum depth: 1479.439548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.348596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988498; longitude = -130.000634; captureRadius = 10; duration = 109; initialDepth = 1407.348596; finalDepth = 1407.160897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.815108 # Actual altitude: 75 # Commanded vehicle depth:1407.348596 # Seafloor depth:-1477.348596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.912630 meters # Minimum depth: 1477.026348 meters looking forward 100.000000 meters along route # Maximum depth: 1478.317262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.026348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987622; longitude = -129.999985; captureRadius = 10; duration = 112; initialDepth = 1407.026348; finalDepth = 1407.348596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8685929999999 # Actual altitude: 75 # Commanded vehicle depth:1407.026348 # Seafloor depth:-1477.894941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.755782 meters # Minimum depth: 1475.860652 meters looking forward 100.000000 meters along route # Maximum depth: 1477.607050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.860652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986719; longitude = -129.999315; captureRadius = 10; duration = 103; initialDepth = 1405.860652; finalDepth = 1407.026348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.373568 # Actual altitude: 75 # Commanded vehicle depth:1405.860652 # Seafloor depth:-1477.234220 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.730293 meters # Minimum depth: 1474.792578 meters looking forward 100.000000 meters along route # Maximum depth: 1475.968862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.792578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985890; longitude = -129.998700; captureRadius = 10; duration = 108; initialDepth = 1404.792578; finalDepth = 1405.860652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.373568 # Actual altitude: 75 # Commanded vehicle depth:1404.792578 # Seafloor depth:-1475.581545 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.123435 meters # Minimum depth: 1475.086583 meters looking forward 100.000000 meters along route # Maximum depth: 1476.119707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.086583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985021; longitude = -129.998055; captureRadius = 10; duration = 110; initialDepth = 1405.086583; finalDepth = 1404.792578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.788967 # Actual altitude: 75 # Commanded vehicle depth:1405.086583 # Seafloor depth:-1475.561657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.914027 meters # Minimum depth: 1474.830788 meters looking forward 100.000000 meters along route # Maximum depth: 1476.996558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.830788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984140; longitude = -129.997402; captureRadius = 10; duration = 112; initialDepth = 1404.830788; finalDepth = 1405.086583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4750739999999 # Actual altitude: 75 # Commanded vehicle depth:1404.830788 # Seafloor depth:-1475.039078 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.155433 meters # Minimum depth: 1475.799070 meters looking forward 100.000000 meters along route # Maximum depth: 1476.803836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.799070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983238; longitude = -129.996733; captureRadius = 10; duration = 103; initialDepth = 1405.799070; finalDepth = 1404.830788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.004766 # Actual altitude: 75 # Commanded vehicle depth:1405.79907 # Seafloor depth:-1476.803836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.731637 meters # Minimum depth: 1475.544695 meters looking forward 100.000000 meters along route # Maximum depth: 1475.793272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.544695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982413; longitude = -129.996121; captureRadius = 10; duration = 108; initialDepth = 1405.544695; finalDepth = 1405.799070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.004766 # Actual altitude: 75 # Commanded vehicle depth:1405.544695 # Seafloor depth:-1475.663966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 110.726431 meters # Minimum depth: 1472.991674 meters looking forward 100.000000 meters along route # Maximum depth: 1475.798482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1402.991674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981544; longitude = -129.995476; captureRadius = 10; duration = 110; initialDepth = 1402.991674; finalDepth = 1405.544695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8068079999998 # Actual altitude: 75 # Commanded vehicle depth:1402.991674 # Seafloor depth:-1475.798482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.915424 meters # Minimum depth: 1473.234770 meters looking forward 100.000000 meters along route # Maximum depth: 1474.511310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.234770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980659; longitude = -129.994820; captureRadius = 10; duration = 112; initialDepth = 1403.234770; finalDepth = 1402.991674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8068079999998 # Actual altitude: 75 # Commanded vehicle depth:1403.23477 # Seafloor depth:-1473.234770 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.555070 meters # Minimum depth: 1474.075551 meters looking forward 100.000000 meters along route # Maximum depth: 1475.895669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.075551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979756; longitude = -129.994150; captureRadius = 10; duration = 102; initialDepth = 1404.075551; finalDepth = 1403.234770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.267611 # Actual altitude: 75 # Commanded vehicle depth:1404.075551 # Seafloor depth:-1474.343162 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.732980 meters # Minimum depth: 1473.640201 meters looking forward 100.000000 meters along route # Maximum depth: 1475.920153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.640201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978936; longitude = -129.993542; captureRadius = 10; duration = 108; initialDepth = 1403.640201; finalDepth = 1404.075551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2799520000001 # Actual altitude: 75 # Commanded vehicle depth:1403.640201 # Seafloor depth:-1475.920153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.329443 meters # Minimum depth: 1472.541296 meters looking forward 100.000000 meters along route # Maximum depth: 1473.631362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1402.541296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978067; longitude = -129.992897; captureRadius = 10; duration = 111; initialDepth = 1402.541296; finalDepth = 1403.640201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2799520000001 # Actual altitude: 75 # Commanded vehicle depth:1402.541296 # Seafloor depth:-1473.608810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.916821 meters # Minimum depth: 1473.752066 meters looking forward 100.000000 meters along route # Maximum depth: 1476.372701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.752066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977177; longitude = -129.992237; captureRadius = 10; duration = 112; initialDepth = 1403.752066; finalDepth = 1402.541296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0675139999998 # Actual altitude: 75 # Commanded vehicle depth:1403.752066 # Seafloor depth:-1473.752066 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.130293 meters # Minimum depth: 1476.601557 meters looking forward 100.000000 meters along route # Maximum depth: 1480.410585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.601557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976274; longitude = -129.991568; captureRadius = 10; duration = 102; initialDepth = 1406.601557; finalDepth = 1403.752066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1406.601557 # Seafloor depth:-1476.601557 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 90.210667 meters # Minimum depth: 1479.741748 meters looking forward 100.000000 meters along route # Maximum depth: 1480.673034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.741748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975458; longitude = -129.990962; captureRadius = 10; duration = 90; initialDepth = 1409.741748; finalDepth = 1406.601557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.723706 # Actual altitude: 75 # Commanded vehicle depth:1409.741748 # Seafloor depth:-1480.465454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.807243 meters # Minimum depth: 1477.194229 meters looking forward 100.000000 meters along route # Maximum depth: 1479.403643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.194229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975836; longitude = -129.989931; captureRadius = 10; duration = 109; initialDepth = 1407.194229; finalDepth = 1409.741748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2094140000002 # Actual altitude: 75 # Commanded vehicle depth:1407.194229 # Seafloor depth:-1479.403643 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 100.821307 meters # Minimum depth: 1476.677144 meters looking forward 100.000000 meters along route # Maximum depth: 1477.878146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.677144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976296; longitude = -129.988677; captureRadius = 10; duration = 100; initialDepth = 1406.677144; finalDepth = 1407.194229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2094140000002 # Actual altitude: 75 # Commanded vehicle depth:1406.677144 # Seafloor depth:-1476.978149 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.299337 meters # Minimum depth: 1476.067818 meters looking forward 100.000000 meters along route # Maximum depth: 1477.006719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.067818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977098; longitude = -129.989287; captureRadius = 10; duration = 107; initialDepth = 1406.067818; finalDepth = 1406.677144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7445909999999 # Actual altitude: 75 # Commanded vehicle depth:1406.067818 # Seafloor depth:-1476.812409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.939107 meters # Minimum depth: 1476.696330 meters looking forward 100.000000 meters along route # Maximum depth: 1477.081162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.696330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977951; longitude = -129.989936; captureRadius = 10; duration = 105; initialDepth = 1406.696330; finalDepth = 1406.067818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7445909999999 # Actual altitude: 75 # Commanded vehicle depth:1406.69633 # Seafloor depth:-1476.771189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.618719 meters # Minimum depth: 1475.041451 meters looking forward 100.000000 meters along route # Maximum depth: 1476.585603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.041451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978793; longitude = -129.990576; captureRadius = 10; duration = 106; initialDepth = 1405.041451; finalDepth = 1406.696330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5441519999999 # Actual altitude: 75 # Commanded vehicle depth:1405.041451 # Seafloor depth:-1476.585603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.800289 meters # Minimum depth: 1474.647191 meters looking forward 100.000000 meters along route # Maximum depth: 1475.273919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.647191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979641; longitude = -129.991221; captureRadius = 10; duration = 111; initialDepth = 1404.647191; finalDepth = 1405.041451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5441519999999 # Actual altitude: 75 # Commanded vehicle depth:1404.647191 # Seafloor depth:-1475.125787 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.436145 meters # Minimum depth: 1473.890129 meters looking forward 100.000000 meters along route # Maximum depth: 1475.252667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1403.890129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980530; longitude = -129.991897; captureRadius = 10; duration = 101; initialDepth = 1403.890129; finalDepth = 1404.647191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6393050000001 # Actual altitude: 75 # Commanded vehicle depth:1403.890129 # Seafloor depth:-1474.529434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.394968 meters # Minimum depth: 1474.993887 meters looking forward 100.000000 meters along route # Maximum depth: 1475.868428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1404.993887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981336; longitude = -129.992510; captureRadius = 10; duration = 109; initialDepth = 1404.993887; finalDepth = 1403.890129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6393050000001 # Actual altitude: 75 # Commanded vehicle depth:1404.993887 # Seafloor depth:-1475.143112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.840127 meters # Minimum depth: 1475.904854 meters looking forward 100.000000 meters along route # Maximum depth: 1477.310894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.904854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982206; longitude = -129.993172; captureRadius = 10; duration = 103; initialDepth = 1405.904854; finalDepth = 1404.993887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1492249999999 # Actual altitude: 75 # Commanded vehicle depth:1405.904854 # Seafloor depth:-1475.904854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.989676 meters # Minimum depth: 1475.906119 meters looking forward 100.000000 meters along route # Maximum depth: 1477.241161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.906119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983032; longitude = -129.993800; captureRadius = 10; duration = 106; initialDepth = 1405.906119; finalDepth = 1405.904854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3350419999999 # Actual altitude: 75 # Commanded vehicle depth:1405.906119 # Seafloor depth:-1477.241161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.244079 meters # Minimum depth: 1475.906370 meters looking forward 100.000000 meters along route # Maximum depth: 1476.926400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1405.906370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983882; longitude = -129.994447; captureRadius = 10; duration = 106; initialDepth = 1405.906370; finalDepth = 1405.906119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3350419999999 # Actual altitude: 75 # Commanded vehicle depth:1405.90637 # Seafloor depth:-1475.906370 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.616376 meters # Minimum depth: 1476.337403 meters looking forward 100.000000 meters along route # Maximum depth: 1478.591623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.337403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984727; longitude = -129.995089; captureRadius = 10; duration = 106; initialDepth = 1406.337403; finalDepth = 1405.906370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1406.337403 # Seafloor depth:-1476.337403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.490532 meters # Minimum depth: 1476.346734 meters looking forward 100.000000 meters along route # Maximum depth: 1478.752108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.346734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985575; longitude = -129.995734; captureRadius = 10; duration = 111; initialDepth = 1406.346734; finalDepth = 1406.337403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2797 # Actual altitude: 75 # Commanded vehicle depth:1406.346734 # Seafloor depth:-1478.626434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.741214 meters # Minimum depth: 1476.461219 meters looking forward 100.000000 meters along route # Maximum depth: 1478.695948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.461219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986461; longitude = -129.996408; captureRadius = 10; duration = 101; initialDepth = 1406.461219; finalDepth = 1406.346734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2797 # Actual altitude: 75 # Commanded vehicle depth:1406.461219 # Seafloor depth:-1476.461219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.085266 meters # Minimum depth: 1477.124717 meters looking forward 100.000000 meters along route # Maximum depth: 1478.767726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.124717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987270; longitude = -129.997024; captureRadius = 10; duration = 109; initialDepth = 1407.124717; finalDepth = 1406.461219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6081730000001 # Actual altitude: 75 # Commanded vehicle depth:1407.124717 # Seafloor depth:-1478.732890 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.145142 meters # Minimum depth: 1477.114000 meters looking forward 100.000000 meters along route # Maximum depth: 1479.248442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.114000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988138; longitude = -129.997683; captureRadius = 10; duration = 104; initialDepth = 1407.114000; finalDepth = 1407.124717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6081730000001 # Actual altitude: 75 # Commanded vehicle depth:1407.114 # Seafloor depth:-1477.114000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.680029 meters # Minimum depth: 1479.397840 meters looking forward 100.000000 meters along route # Maximum depth: 1481.320992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.397840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988966; longitude = -129.998313; captureRadius = 10; duration = 106; initialDepth = 1409.397840; finalDepth = 1407.114000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1409.39784 # Seafloor depth:-1479.397840 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.549039 meters # Minimum depth: 1479.838037 meters looking forward 100.000000 meters along route # Maximum depth: 1480.328253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.838037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989814; longitude = -129.998958; captureRadius = 10; duration = 106; initialDepth = 1409.838037; finalDepth = 1409.397840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1409.838037 # Seafloor depth:-1479.838037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.614031 meters # Minimum depth: 1479.818638 meters looking forward 100.000000 meters along route # Maximum depth: 1481.464478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.818638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990661; longitude = -129.999603; captureRadius = 10; duration = 106; initialDepth = 1409.818638; finalDepth = 1409.838037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1343550000001 # Actual altitude: 75 # Commanded vehicle depth:1409.818638 # Seafloor depth:-1480.952993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.180790 meters # Minimum depth: 1481.563236 meters looking forward 100.000000 meters along route # Maximum depth: 1484.161484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.563236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991509; longitude = -130.000247; captureRadius = 10; duration = 111; initialDepth = 1411.563236; finalDepth = 1409.818638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1343550000001 # Actual altitude: 75 # Commanded vehicle depth:1411.563236 # Seafloor depth:-1481.563236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 113.519619 meters # Minimum depth: 1482.341612 meters looking forward 100.000000 meters along route # Maximum depth: 1484.669070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.341612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992393; longitude = -130.000920; captureRadius = 10; duration = 113; initialDepth = 1412.341612; finalDepth = 1411.563236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.526257 # Actual altitude: 75 # Commanded vehicle depth:1412.341612 # Seafloor depth:-1483.867869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.776987 meters # Minimum depth: 1483.924965 meters looking forward 100.000000 meters along route # Maximum depth: 1486.875664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.924965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993296; longitude = -130.001606; captureRadius = 10; duration = 104; initialDepth = 1413.924965; finalDepth = 1412.341612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.526257 # Actual altitude: 75 # Commanded vehicle depth:1413.924965 # Seafloor depth:-1483.924965 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 43.087027 meters # Minimum depth: 1486.190080 meters looking forward 100.000000 meters along route # Maximum depth: 1486.954387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.190080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994129; longitude = -130.002240; captureRadius = 10; duration = 43; initialDepth = 1416.190080; finalDepth = 1413.924965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7299329999998 # Actual altitude: 75 # Commanded vehicle depth:1416.19008 # Seafloor depth:-1486.920013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.459576 meters # Minimum depth: 1486.664386 meters looking forward 100.000000 meters along route # Maximum depth: 1488.889810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.664386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994442; longitude = -130.002569; captureRadius = 10; duration = 101; initialDepth = 1416.664386; finalDepth = 1416.190080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7299329999998 # Actual altitude: 75 # Commanded vehicle depth:1416.664386 # Seafloor depth:-1486.689898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.459127 meters # Minimum depth: 1489.258263 meters looking forward 100.000000 meters along route # Maximum depth: 1489.712674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.258263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995179; longitude = -130.003342; captureRadius = 10; duration = 101; initialDepth = 1419.258263; finalDepth = 1416.664386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.160468 # Actual altitude: 75 # Commanded vehicle depth:1419.258263 # Seafloor depth:-1489.418731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.238350 meters # Minimum depth: 1489.587505 meters looking forward 100.000000 meters along route # Maximum depth: 1491.066569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.587505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995916; longitude = -130.004116; captureRadius = 10; duration = 109; initialDepth = 1419.587505; finalDepth = 1419.258263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.160468 # Actual altitude: 75 # Commanded vehicle depth:1419.587505 # Seafloor depth:-1489.587505 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 52.396834 meters # Minimum depth: 1487.004460 meters looking forward 100.000000 meters along route # Maximum depth: 1491.066569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.004460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996709; longitude = -130.004949; captureRadius = 10; duration = 52; initialDepth = 1417.004460; finalDepth = 1419.587505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4467419999999 # Actual altitude: 75 # Commanded vehicle depth:1417.00446 # Seafloor depth:-1490.451202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.731321 meters # Minimum depth: 1487.097529 meters looking forward 100.000000 meters along route # Maximum depth: 1490.858713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.097529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996957; longitude = -130.004374; captureRadius = 10; duration = 105; initialDepth = 1417.097529; finalDepth = 1417.004460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4467419999999 # Actual altitude: 75 # Commanded vehicle depth:1417.097529 # Seafloor depth:-1487.097529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.611887 meters # Minimum depth: 1490.373138 meters looking forward 100.000000 meters along route # Maximum depth: 1492.384768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.373138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997459; longitude = -130.003213; captureRadius = 10; duration = 102; initialDepth = 1420.373138; finalDepth = 1417.097529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1420.373138 # Seafloor depth:-1490.373138 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 49.430035 meters # Minimum depth: 1490.963450 meters looking forward 100.000000 meters along route # Maximum depth: 1492.624847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.963450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997945; longitude = -130.002087; captureRadius = 10; duration = 49; initialDepth = 1420.963450; finalDepth = 1420.373138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6613970000001 # Actual altitude: 75 # Commanded vehicle depth:1420.96345 # Seafloor depth:-1492.624847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 113.308158 meters # Minimum depth: 1489.315901 meters looking forward 100.000000 meters along route # Maximum depth: 1490.920721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.315901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997551; longitude = -130.001790; captureRadius = 10; duration = 113; initialDepth = 1419.315901; finalDepth = 1420.963450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6613970000001 # Actual altitude: 75 # Commanded vehicle depth:1419.315901 # Seafloor depth:-1490.920721 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.531138 meters # Minimum depth: 1488.797141 meters looking forward 100.000000 meters along route # Maximum depth: 1489.858883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1418.797141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996649; longitude = -130.001109; captureRadius = 10; duration = 100; initialDepth = 1418.797141; finalDepth = 1419.315901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.60482 # Actual altitude: 75 # Commanded vehicle depth:1418.797141 # Seafloor depth:-1489.461177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.899289 meters # Minimum depth: 1487.280459 meters looking forward 100.000000 meters along route # Maximum depth: 1488.707274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.280459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995848; longitude = -130.000505; captureRadius = 10; duration = 109; initialDepth = 1417.280459; finalDepth = 1418.797141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.426815 # Actual altitude: 75 # Commanded vehicle depth:1417.280459 # Seafloor depth:-1488.707274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.744823 meters # Minimum depth: 1483.525655 meters looking forward 100.000000 meters along route # Maximum depth: 1487.193683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.525655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994972; longitude = -129.999845; captureRadius = 10; duration = 104; initialDepth = 1413.525655; finalDepth = 1417.280459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.668028 # Actual altitude: 75 # Commanded vehicle depth:1413.525655 # Seafloor depth:-1487.193683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 107.322559 meters # Minimum depth: 1482.628268 meters looking forward 100.000000 meters along route # Maximum depth: 1484.266834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.628268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994138; longitude = -129.999216; captureRadius = 10; duration = 107; initialDepth = 1412.628268; finalDepth = 1413.525655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.668028 # Actual altitude: 75 # Commanded vehicle depth:1412.628268 # Seafloor depth:-1483.543443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.674254 meters # Minimum depth: 1481.204670 meters looking forward 100.000000 meters along route # Maximum depth: 1482.573599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.204670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993283; longitude = -129.998571; captureRadius = 10; duration = 111; initialDepth = 1411.204670; finalDepth = 1412.628268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.368929 # Actual altitude: 75 # Commanded vehicle depth:1411.20467 # Seafloor depth:-1482.573599 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.971869 meters # Minimum depth: 1481.205996 meters looking forward 100.000000 meters along route # Maximum depth: 1482.983046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.205996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992393; longitude = -129.997900; captureRadius = 10; duration = 102; initialDepth = 1411.205996; finalDepth = 1411.204670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.368929 # Actual altitude: 75 # Commanded vehicle depth:1411.205996 # Seafloor depth:-1482.450381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 107.461829 meters # Minimum depth: 1478.724632 meters looking forward 100.000000 meters along route # Maximum depth: 1481.047944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.724632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991573; longitude = -129.997282; captureRadius = 10; duration = 107; initialDepth = 1408.724632; finalDepth = 1411.205996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.323312 # Actual altitude: 75 # Commanded vehicle depth:1408.724632 # Seafloor depth:-1481.047944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 113.310987 meters # Minimum depth: 1478.285405 meters looking forward 100.000000 meters along route # Maximum depth: 1479.263365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.285405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990717; longitude = -129.996636; captureRadius = 10; duration = 113; initialDepth = 1408.285405; finalDepth = 1408.724632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.323312 # Actual altitude: 75 # Commanded vehicle depth:1408.285405 # Seafloor depth:-1479.221971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.198882 meters # Minimum depth: 1476.998398 meters looking forward 100.000000 meters along route # Maximum depth: 1478.230877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.998398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989814; longitude = -129.995955; captureRadius = 10; duration = 101; initialDepth = 1406.998398; finalDepth = 1408.285405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.232479 # Actual altitude: 75 # Commanded vehicle depth:1406.998398 # Seafloor depth:-1478.230877 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.236799 meters # Minimum depth: 1477.006088 meters looking forward 100.000000 meters along route # Maximum depth: 1478.592671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.006088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989008; longitude = -129.995347; captureRadius = 10; duration = 109; initialDepth = 1407.006088; finalDepth = 1406.998398; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.232479 # Actual altitude: 75 # Commanded vehicle depth:1407.006088 # Seafloor depth:-1477.006088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 105.412676 meters # Minimum depth: 1478.676248 meters looking forward 100.000000 meters along route # Maximum depth: 1480.817045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.676248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988138; longitude = -129.994691; captureRadius = 10; duration = 105; initialDepth = 1408.676248; finalDepth = 1407.006088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1408.676248 # Seafloor depth:-1478.676248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 107.325240 meters # Minimum depth: 1479.643000 meters looking forward 100.000000 meters along route # Maximum depth: 1480.624955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.643000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987298; longitude = -129.994058; captureRadius = 10; duration = 107; initialDepth = 1409.643000; finalDepth = 1408.676248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0947799999999 # Actual altitude: 75 # Commanded vehicle depth:1409.643 # Seafloor depth:-1479.737780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.011802 meters # Minimum depth: 1479.412118 meters looking forward 100.000000 meters along route # Maximum depth: 1480.366454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.412118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986443; longitude = -129.993413; captureRadius = 10; duration = 111; initialDepth = 1409.412118; finalDepth = 1409.643000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.954336 # Actual altitude: 75 # Commanded vehicle depth:1409.412118 # Seafloor depth:-1480.366454 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.639684 meters # Minimum depth: 1478.333791 meters looking forward 100.000000 meters along route # Maximum depth: 1479.593834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.333791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985559; longitude = -129.992746; captureRadius = 10; duration = 103; initialDepth = 1408.333791; finalDepth = 1409.412118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.246844 # Actual altitude: 75 # Commanded vehicle depth:1408.333791 # Seafloor depth:-1479.580635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 107.326246 meters # Minimum depth: 1478.456044 meters looking forward 100.000000 meters along route # Maximum depth: 1479.357526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.456044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984733; longitude = -129.992124; captureRadius = 10; duration = 107; initialDepth = 1408.456044; finalDepth = 1408.333791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.246844 # Actual altitude: 75 # Commanded vehicle depth:1408.456044 # Seafloor depth:-1478.456044 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 112.786838 meters # Minimum depth: 1478.694940 meters looking forward 100.000000 meters along route # Maximum depth: 1479.781619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1408.694940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983878; longitude = -129.991479; captureRadius = 10; duration = 112; initialDepth = 1408.694940; finalDepth = 1408.456044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2990579999998 # Actual altitude: 75 # Commanded vehicle depth:1408.69494 # Seafloor depth:-1478.993998 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.866659 meters # Minimum depth: 1476.547108 meters looking forward 100.000000 meters along route # Maximum depth: 1478.506250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.547108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982980; longitude = -129.990801; captureRadius = 10; duration = 101; initialDepth = 1406.547108; finalDepth = 1408.694940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9591419999999 # Actual altitude: 75 # Commanded vehicle depth:1406.547108 # Seafloor depth:-1478.506250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 108.574276 meters # Minimum depth: 1476.165342 meters looking forward 100.000000 meters along route # Maximum depth: 1477.604953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.165342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982168; longitude = -129.990189; captureRadius = 10; duration = 108; initialDepth = 1406.165342; finalDepth = 1406.547108; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9591419999999 # Actual altitude: 75 # Commanded vehicle depth:1406.165342 # Seafloor depth:-1476.921815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 113.314883 meters # Minimum depth: 1476.127545 meters looking forward 100.000000 meters along route # Maximum depth: 1478.908303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1406.127545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981303; longitude = -129.989537; captureRadius = 10; duration = 113; initialDepth = 1406.127545; finalDepth = 1406.165342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7564729999999 # Actual altitude: 75 # Commanded vehicle depth:1406.127545 # Seafloor depth:-1476.156480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.093601 meters # Minimum depth: 1479.206102 meters looking forward 100.000000 meters along route # Maximum depth: 1481.200183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.206102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980401; longitude = -129.988856; captureRadius = 10; duration = 100; initialDepth = 1409.206102; finalDepth = 1406.127545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.028935 # Actual altitude: 75 # Commanded vehicle depth:1409.206102 # Seafloor depth:-1479.206102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 107.328258 meters # Minimum depth: 1477.874147 meters looking forward 100.000000 meters along route # Maximum depth: 1481.097202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.874147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979604; longitude = -129.988255; captureRadius = 10; duration = 107; initialDepth = 1407.874147; finalDepth = 1409.206102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2230549999999 # Actual altitude: 75 # Commanded vehicle depth:1407.874147 # Seafloor depth:-1481.097202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.148994 meters # Minimum depth: 1477.036284 meters looking forward 100.000000 meters along route # Maximum depth: 1477.601153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.036284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978749; longitude = -129.987610; captureRadius = 10; duration = 100; initialDepth = 1407.036284; finalDepth = 1407.874147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2230549999999 # Actual altitude: 75 # Commanded vehicle depth:1407.036284 # Seafloor depth:-1477.169984 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.661223 meters # Minimum depth: 1477.902494 meters looking forward 100.000000 meters along route # Maximum depth: 1484.617873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1407.902494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977951; longitude = -129.987009; captureRadius = 10; duration = 102; initialDepth = 1407.902494; finalDepth = 1407.036284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1337000000001 # Actual altitude: 75 # Commanded vehicle depth:1407.902494 # Seafloor depth:-1477.902494 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 96.504369 meters # Minimum depth: 1484.810918 meters looking forward 100.000000 meters along route # Maximum depth: 1485.414071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1414.810918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977133; longitude = -129.986392; captureRadius = 10; duration = 96; initialDepth = 1414.810918; finalDepth = 1407.902494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4940750000001 # Actual altitude: 75 # Commanded vehicle depth:1414.810918 # Seafloor depth:-1485.304993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.456994 meters # Minimum depth: 1485.682190 meters looking forward 100.000000 meters along route # Maximum depth: 1490.022221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1415.682190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977537; longitude = -129.985289; captureRadius = 10; duration = 103; initialDepth = 1415.682190; finalDepth = 1414.810918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4940750000001 # Actual altitude: 75 # Commanded vehicle depth:1415.68219 # Seafloor depth:-1485.682190 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 29.962013 meters # Minimum depth: 1487.077819 meters looking forward 100.000000 meters along route # Maximum depth: 1490.150543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.077819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977970; longitude = -129.984107; captureRadius = 10; duration = 29; initialDepth = 1417.077819; finalDepth = 1415.682190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0727239999999 # Actual altitude: 75 # Commanded vehicle depth:1417.077819 # Seafloor depth:-1490.150543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.451929 meters # Minimum depth: 1488.151224 meters looking forward 100.000000 meters along route # Maximum depth: 1490.620229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1418.151224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978209; longitude = -129.984287; captureRadius = 10; duration = 102; initialDepth = 1418.151224; finalDepth = 1417.077819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0727239999999 # Actual altitude: 75 # Commanded vehicle depth:1418.151224 # Seafloor depth:-1490.160150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.986203 meters # Minimum depth: 1485.990891 meters looking forward 100.000000 meters along route # Maximum depth: 1489.336784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1415.990891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979025; longitude = -129.984902; captureRadius = 10; duration = 107; initialDepth = 1415.990891; finalDepth = 1418.151224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.138817 # Actual altitude: 75 # Commanded vehicle depth:1415.990891 # Seafloor depth:-1488.129708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 113.312306 meters # Minimum depth: 1483.172469 meters looking forward 100.000000 meters along route # Maximum depth: 1486.055364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.172469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979885; longitude = -129.985551; captureRadius = 10; duration = 113; initialDepth = 1413.172469; finalDepth = 1415.990891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7668039999999 # Actual altitude: 75 # Commanded vehicle depth:1413.172469 # Seafloor depth:-1485.939273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.712990 meters # Minimum depth: 1481.596869 meters looking forward 100.000000 meters along route # Maximum depth: 1486.305907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.596869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980788; longitude = -129.986232; captureRadius = 10; duration = 100; initialDepth = 1411.596869; finalDepth = 1413.172469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.709038 # Actual altitude: 75 # Commanded vehicle depth:1411.596869 # Seafloor depth:-1486.305907 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.723160 meters # Minimum depth: 1480.738825 meters looking forward 100.000000 meters along route # Maximum depth: 1482.169595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1410.738825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981590; longitude = -129.986837; captureRadius = 10; duration = 109; initialDepth = 1410.738825; finalDepth = 1411.596869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.709038 # Actual altitude: 75 # Commanded vehicle depth:1410.738825 # Seafloor depth:-1481.369525 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.949496 meters # Minimum depth: 1479.500082 meters looking forward 100.000000 meters along route # Maximum depth: 1481.353493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.500082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982464; longitude = -129.987496; captureRadius = 10; duration = 104; initialDepth = 1409.500082; finalDepth = 1410.738825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.369588 # Actual altitude: 75 # Commanded vehicle depth:1409.500082 # Seafloor depth:-1480.869670 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.335825 meters # Minimum depth: 1481.721753 meters looking forward 100.000000 meters along route # Maximum depth: 1482.471010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.721753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983300; longitude = -129.988126; captureRadius = 10; duration = 107; initialDepth = 1411.721753; finalDepth = 1409.500082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.369588 # Actual altitude: 75 # Commanded vehicle depth:1411.721753 # Seafloor depth:-1481.721753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 111.460085 meters # Minimum depth: 1481.467668 meters looking forward 100.000000 meters along route # Maximum depth: 1483.214203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.467668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984155; longitude = -129.988771; captureRadius = 10; duration = 111; initialDepth = 1411.467668; finalDepth = 1411.721753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4313199999999 # Actual altitude: 75 # Commanded vehicle depth:1411.467668 # Seafloor depth:-1481.898988 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.210560 meters # Minimum depth: 1481.402499 meters looking forward 100.000000 meters along route # Maximum depth: 1482.362618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.402499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985043; longitude = -129.989440; captureRadius = 10; duration = 103; initialDepth = 1411.402499; finalDepth = 1411.467668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.471648 # Actual altitude: 75 # Commanded vehicle depth:1411.402499 # Seafloor depth:-1481.874147 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.334820 meters # Minimum depth: 1482.577858 meters looking forward 100.000000 meters along route # Maximum depth: 1485.461125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1412.577858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985865; longitude = -129.990060; captureRadius = 10; duration = 107; initialDepth = 1412.577858; finalDepth = 1411.402499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.471648 # Actual altitude: 75 # Commanded vehicle depth:1412.577858 # Seafloor depth:-1482.577858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 113.196975 meters # Minimum depth: 1483.267266 meters looking forward 100.000000 meters along route # Maximum depth: 1485.648656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.267266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986720; longitude = -129.990705; captureRadius = 10; duration = 113; initialDepth = 1413.267266; finalDepth = 1412.577858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.196171 # Actual altitude: 75 # Commanded vehicle depth:1413.267266 # Seafloor depth:-1485.463437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.471658 meters # Minimum depth: 1483.437638 meters looking forward 100.000000 meters along route # Maximum depth: 1485.745031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.437638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987622; longitude = -129.991385; captureRadius = 10; duration = 101; initialDepth = 1413.437638; finalDepth = 1413.267266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.196171 # Actual altitude: 75 # Commanded vehicle depth:1413.437638 # Seafloor depth:-1483.437638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 108.959238 meters # Minimum depth: 1483.872140 meters looking forward 100.000000 meters along route # Maximum depth: 1485.352505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.872140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988430; longitude = -129.991995; captureRadius = 10; duration = 108; initialDepth = 1413.872140; finalDepth = 1413.437638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4803650000001 # Actual altitude: 75 # Commanded vehicle depth:1413.87214 # Seafloor depth:-1485.352505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 105.708055 meters # Minimum depth: 1483.038158 meters looking forward 100.000000 meters along route # Maximum depth: 1483.884665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.038158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989298; longitude = -129.992649; captureRadius = 10; duration = 105; initialDepth = 1413.038158; finalDepth = 1413.872140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4803650000001 # Actual altitude: 75 # Commanded vehicle depth:1413.038158 # Seafloor depth:-1483.884665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.333143 meters # Minimum depth: 1481.204560 meters looking forward 100.000000 meters along route # Maximum depth: 1482.923761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.204560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990141; longitude = -129.993284; captureRadius = 10; duration = 107; initialDepth = 1411.204560; finalDepth = 1413.038158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7192010000001 # Actual altitude: 75 # Commanded vehicle depth:1411.20456 # Seafloor depth:-1482.923761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.696126 meters # Minimum depth: 1481.315473 meters looking forward 100.000000 meters along route # Maximum depth: 1483.181268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.315473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990996; longitude = -129.993929; captureRadius = 10; duration = 110; initialDepth = 1411.315473; finalDepth = 1411.204560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7192010000001 # Actual altitude: 75 # Commanded vehicle depth:1411.315473 # Seafloor depth:-1481.315473 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.969155 meters # Minimum depth: 1480.203566 meters looking forward 100.000000 meters along route # Maximum depth: 1482.220081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1410.203566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991877; longitude = -129.994594; captureRadius = 10; duration = 103; initialDepth = 1410.203566; finalDepth = 1411.315473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.016515 # Actual altitude: 75 # Commanded vehicle depth:1410.203566 # Seafloor depth:-1482.220081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.332138 meters # Minimum depth: 1479.777331 meters looking forward 100.000000 meters along route # Maximum depth: 1481.145399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1409.777331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992706; longitude = -129.995218; captureRadius = 10; duration = 107; initialDepth = 1409.777331; finalDepth = 1410.203566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.016515 # Actual altitude: 75 # Commanded vehicle depth:1409.777331 # Seafloor depth:-1480.134058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 112.432982 meters # Minimum depth: 1481.163712 meters looking forward 100.000000 meters along route # Maximum depth: 1483.299632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1411.163712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993561; longitude = -129.995863; captureRadius = 10; duration = 112; initialDepth = 1411.163712; finalDepth = 1409.777331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3567270000001 # Actual altitude: 75 # Commanded vehicle depth:1411.163712 # Seafloor depth:-1481.163712 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.230288 meters # Minimum depth: 1483.503558 meters looking forward 100.000000 meters along route # Maximum depth: 1486.656637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.503558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994456; longitude = -129.996539; captureRadius = 10; duration = 102; initialDepth = 1413.503558; finalDepth = 1411.163712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1413.503558 # Seafloor depth:-1483.503558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 108.195355 meters # Minimum depth: 1486.805309 meters looking forward 100.000000 meters along route # Maximum depth: 1490.849509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.805309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995271; longitude = -129.997153; captureRadius = 10; duration = 108; initialDepth = 1416.805309; finalDepth = 1413.503558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1416.805309 # Seafloor depth:-1486.805309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 113.305581 meters # Minimum depth: 1490.830719 meters looking forward 100.000000 meters along route # Maximum depth: 1491.616356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.830719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996133; longitude = -129.997803; captureRadius = 10; duration = 113; initialDepth = 1420.830719; finalDepth = 1416.805309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0336379999999 # Actual altitude: 75 # Commanded vehicle depth:1420.830719 # Seafloor depth:-1490.864357 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 113.305209 meters # Minimum depth: 1491.776614 meters looking forward 100.000000 meters along route # Maximum depth: 1492.598393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1421.776614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997035; longitude = -129.998483; captureRadius = 10; duration = 113; initialDepth = 1421.776614; finalDepth = 1420.830719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0336379999999 # Actual altitude: 75 # Commanded vehicle depth:1421.776614 # Seafloor depth:-1491.776614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.058918 meters # Minimum depth: 1492.838367 meters looking forward 100.000000 meters along route # Maximum depth: 1493.358485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.838367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997938; longitude = -129.999164; captureRadius = 10; duration = 106; initialDepth = 1422.838367; finalDepth = 1421.776614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.151987 # Actual altitude: 75 # Commanded vehicle depth:1422.838367 # Seafloor depth:-1492.990354 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 96.305826 meters # Minimum depth: 1492.786835 meters looking forward 100.000000 meters along route # Maximum depth: 1495.187736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.786835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.998783; longitude = -129.999801; captureRadius = 10; duration = 96; initialDepth = 1422.786835; finalDepth = 1422.838367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.151987 # Actual altitude: 75 # Commanded vehicle depth:1422.786835 # Seafloor depth:-1492.786835 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.663554 meters # Minimum depth: 1495.735636 meters looking forward 100.000000 meters along route # Maximum depth: 1497.225685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1425.735636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.999186; longitude = -129.998700; captureRadius = 10; duration = 103; initialDepth = 1425.735636; finalDepth = 1422.786835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1425.735636 # Seafloor depth:-1495.735636 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 38.850850 meters # Minimum depth: 1496.916973 meters looking forward 100.000000 meters along route # Maximum depth: 1497.362732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.916973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.999620; longitude = -129.997515; captureRadius = 10; duration = 38; initialDepth = 1426.916973; finalDepth = 1425.735636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.445759 # Actual altitude: 75 # Commanded vehicle depth:1426.916973 # Seafloor depth:-1497.362732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.527446 meters # Minimum depth: 1496.497768 meters looking forward 100.000000 meters along route # Maximum depth: 1497.560323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.497768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.999310; longitude = -129.997282; captureRadius = 10; duration = 107; initialDepth = 1426.497768; finalDepth = 1426.916973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7769969999999 # Actual altitude: 75 # Commanded vehicle depth:1426.497768 # Seafloor depth:-1497.274765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 113.306125 meters # Minimum depth: 1494.469314 meters looking forward 100.000000 meters along route # Maximum depth: 1496.661979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.469314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.998454; longitude = -129.996636; captureRadius = 10; duration = 113; initialDepth = 1424.469314; finalDepth = 1426.497768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.192665 # Actual altitude: 75 # Commanded vehicle depth:1424.469314 # Seafloor depth:-1496.661979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.144825 meters # Minimum depth: 1494.149832 meters looking forward 100.000000 meters along route # Maximum depth: 1495.425711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.149832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997551; longitude = -129.995955; captureRadius = 10; duration = 101; initialDepth = 1424.149832; finalDepth = 1424.469314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.192665 # Actual altitude: 75 # Commanded vehicle depth:1424.149832 # Seafloor depth:-1494.617505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.281826 meters # Minimum depth: 1494.869040 meters looking forward 100.000000 meters along route # Maximum depth: 1495.643136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.869040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996745; longitude = -129.995347; captureRadius = 10; duration = 109; initialDepth = 1424.869040; finalDepth = 1424.149832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5968579999999 # Actual altitude: 75 # Commanded vehicle depth:1424.86904 # Seafloor depth:-1495.465898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.372114 meters # Minimum depth: 1493.727022 meters looking forward 100.000000 meters along route # Maximum depth: 1494.840299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.727022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995875; longitude = -129.994691; captureRadius = 10; duration = 105; initialDepth = 1423.727022; finalDepth = 1424.869040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1132769999999 # Actual altitude: 75 # Commanded vehicle depth:1423.727022 # Seafloor depth:-1494.840299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.327473 meters # Minimum depth: 1489.554236 meters looking forward 100.000000 meters along route # Maximum depth: 1494.215662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.554236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995035; longitude = -129.994058; captureRadius = 10; duration = 107; initialDepth = 1419.554236; finalDepth = 1423.727022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.5606790000002 # Actual altitude: 75 # Commanded vehicle depth:1419.554236 # Seafloor depth:-1494.114915 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 111.036238 meters # Minimum depth: 1488.150061 meters looking forward 100.000000 meters along route # Maximum depth: 1489.425020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1418.150061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994180; longitude = -129.993413; captureRadius = 10; duration = 111; initialDepth = 1418.150061; finalDepth = 1419.554236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.5606790000002 # Actual altitude: 75 # Commanded vehicle depth:1418.150061 # Seafloor depth:-1489.425020 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.619714 meters # Minimum depth: 1487.892805 meters looking forward 100.000000 meters along route # Maximum depth: 1489.516160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.892805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993296; longitude = -129.992746; captureRadius = 10; duration = 103; initialDepth = 1417.892805; finalDepth = 1418.150061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.466347 # Actual altitude: 75 # Commanded vehicle depth:1417.892805 # Seafloor depth:-1489.359152 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.328478 meters # Minimum depth: 1486.101229 meters looking forward 100.000000 meters along route # Maximum depth: 1487.682732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.101229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992470; longitude = -129.992124; captureRadius = 10; duration = 107; initialDepth = 1416.101229; finalDepth = 1417.892805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5815029999999 # Actual altitude: 75 # Commanded vehicle depth:1416.101229 # Seafloor depth:-1487.682732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.790683 meters # Minimum depth: 1487.000490 meters looking forward 100.000000 meters along route # Maximum depth: 1492.551456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.000490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991615; longitude = -129.991479; captureRadius = 10; duration = 112; initialDepth = 1417.000490; finalDepth = 1416.101229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5815029999999 # Actual altitude: 75 # Commanded vehicle depth:1417.00049 # Seafloor depth:-1487.000490 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.867280 meters # Minimum depth: 1490.121785 meters looking forward 100.000000 meters along route # Maximum depth: 1492.944161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.121785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990717; longitude = -129.990801; captureRadius = 10; duration = 101; initialDepth = 1420.121785; finalDepth = 1417.000490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5830570000001 # Actual altitude: 75 # Commanded vehicle depth:1420.121785 # Seafloor depth:-1492.704842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 108.564625 meters # Minimum depth: 1486.704679 meters looking forward 100.000000 meters along route # Maximum depth: 1489.967069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.704679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989905; longitude = -129.990189; captureRadius = 10; duration = 108; initialDepth = 1416.704679; finalDepth = 1420.121785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2623900000001 # Actual altitude: 75 # Commanded vehicle depth:1416.704679 # Seafloor depth:-1489.967069 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 113.310020 meters # Minimum depth: 1486.503823 meters looking forward 100.000000 meters along route # Maximum depth: 1488.171984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.503823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989041; longitude = -129.989537; captureRadius = 10; duration = 113; initialDepth = 1416.503823; finalDepth = 1416.704679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2623900000001 # Actual altitude: 75 # Commanded vehicle depth:1416.503823 # Seafloor depth:-1486.641166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.114814 meters # Minimum depth: 1488.291433 meters looking forward 100.000000 meters along route # Maximum depth: 1489.996301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1418.291433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988138; longitude = -129.988856; captureRadius = 10; duration = 100; initialDepth = 1418.291433; finalDepth = 1416.503823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1373430000001 # Actual altitude: 75 # Commanded vehicle depth:1418.291433 # Seafloor depth:-1488.291433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.319074 meters # Minimum depth: 1486.681913 meters looking forward 100.000000 meters along route # Maximum depth: 1489.561196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1416.681913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987340; longitude = -129.988255; captureRadius = 10; duration = 110; initialDepth = 1416.681913; finalDepth = 1418.291433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8792830000002 # Actual altitude: 75 # Commanded vehicle depth:1416.681913 # Seafloor depth:-1489.561196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.342241 meters # Minimum depth: 1484.791549 meters looking forward 100.000000 meters along route # Maximum depth: 1486.580690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1414.791549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986461; longitude = -129.987592; captureRadius = 10; duration = 104; initialDepth = 1414.791549; finalDepth = 1416.681913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.8792830000002 # Actual altitude: 75 # Commanded vehicle depth:1414.791549 # Seafloor depth:-1486.580690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.331161 meters # Minimum depth: 1483.784659 meters looking forward 100.000000 meters along route # Maximum depth: 1485.323286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.784659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985630; longitude = -129.986966; captureRadius = 10; duration = 107; initialDepth = 1413.784659; finalDepth = 1414.791549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.789141 # Actual altitude: 75 # Commanded vehicle depth:1413.784659 # Seafloor depth:-1485.323286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.073556 meters # Minimum depth: 1483.859934 meters looking forward 100.000000 meters along route # Maximum depth: 1489.692946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1413.859934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984775; longitude = -129.986321; captureRadius = 10; duration = 112; initialDepth = 1413.859934; finalDepth = 1413.784659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5386270000001 # Actual altitude: 75 # Commanded vehicle depth:1413.859934 # Seafloor depth:-1483.859934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.589771 meters # Minimum depth: 1489.365338 meters looking forward 100.000000 meters along route # Maximum depth: 1490.169099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.365338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983882; longitude = -129.985648; captureRadius = 10; duration = 102; initialDepth = 1419.365338; finalDepth = 1413.859934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.626618 # Actual altitude: 75 # Commanded vehicle depth:1419.365338 # Seafloor depth:-1489.991956 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.847388 meters # Minimum depth: 1489.213304 meters looking forward 100.000000 meters along route # Maximum depth: 1489.838720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.213304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983065; longitude = -129.985031; captureRadius = 10; duration = 107; initialDepth = 1419.213304; finalDepth = 1419.365338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.626618 # Actual altitude: 75 # Commanded vehicle depth:1419.213304 # Seafloor depth:-1489.333113 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 113.312850 meters # Minimum depth: 1487.441087 meters looking forward 100.000000 meters along route # Maximum depth: 1490.066748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1417.441087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982206; longitude = -129.984383; captureRadius = 10; duration = 113; initialDepth = 1417.441087; finalDepth = 1419.213304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7789600000001 # Actual altitude: 75 # Commanded vehicle depth:1417.441087 # Seafloor depth:-1489.220047 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.837267 meters # Minimum depth: 1490.628297 meters looking forward 100.000000 meters along route # Maximum depth: 1493.368054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.628297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981303; longitude = -129.983703; captureRadius = 10; duration = 100; initialDepth = 1420.628297; finalDepth = 1417.441087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7789600000001 # Actual altitude: 75 # Commanded vehicle depth:1420.628297 # Seafloor depth:-1490.628297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.601874 meters # Minimum depth: 1489.071137 meters looking forward 100.000000 meters along route # Maximum depth: 1492.396744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.071137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980500; longitude = -129.983097; captureRadius = 10; duration = 109; initialDepth = 1419.071137; finalDepth = 1420.628297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.325607 # Actual altitude: 75 # Commanded vehicle depth:1419.071137 # Seafloor depth:-1492.396744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.829054 meters # Minimum depth: 1489.308943 meters looking forward 100.000000 meters along route # Maximum depth: 1494.515417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1419.308943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979627; longitude = -129.982439; captureRadius = 10; duration = 102; initialDepth = 1419.308943; finalDepth = 1419.071137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.325607 # Actual altitude: 75 # Commanded vehicle depth:1419.308943 # Seafloor depth:-1489.308943 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 91.449345 meters # Minimum depth: 1494.503693 meters looking forward 100.000000 meters along route # Maximum depth: 1496.332883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.503693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978808; longitude = -129.981821; captureRadius = 10; duration = 91; initialDepth = 1424.503693; finalDepth = 1419.308943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1424.503693 # Seafloor depth:-1494.503693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.507172 meters # Minimum depth: 1496.451387 meters looking forward 100.000000 meters along route # Maximum depth: 1499.861752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.451387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979191; longitude = -129.980776; captureRadius = 10; duration = 108; initialDepth = 1426.451387; finalDepth = 1424.503693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3019609999999 # Actual altitude: 75 # Commanded vehicle depth:1426.451387 # Seafloor depth:-1496.753348 # behavior reson { duration = RESON_DURATION; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 100.306972 meters # Minimum depth: 1498.095533 meters looking forward 100.000000 meters along route # Maximum depth: 1499.852112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1428.095533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979645; longitude = -129.979536; captureRadius = 10; duration = 100; initialDepth = 1428.095533; finalDepth = 1426.451387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7565790000001 # Actual altitude: 75 # Commanded vehicle depth:1428.095533 # Seafloor depth:-1499.852112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.654478 meters # Minimum depth: 1493.569254 meters looking forward 100.000000 meters along route # Maximum depth: 1498.191717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.569254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980447; longitude = -129.980131; captureRadius = 10; duration = 108; initialDepth = 1423.569254; finalDepth = 1428.095533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4558509999999 # Actual altitude: 75 # Commanded vehicle depth:1423.569254 # Seafloor depth:-1498.025105 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.478224 meters # Minimum depth: 1492.293414 meters looking forward 100.000000 meters along route # Maximum depth: 1493.528075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.293414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981315; longitude = -129.980776; captureRadius = 10; duration = 111; initialDepth = 1422.293414; finalDepth = 1423.569254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.4558509999999 # Actual altitude: 75 # Commanded vehicle depth:1422.293414 # Seafloor depth:-1493.528075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.935711 meters # Minimum depth: 1491.269451 meters looking forward 100.000000 meters along route # Maximum depth: 1493.061998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1421.269451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982206; longitude = -129.981437; captureRadius = 10; duration = 112; initialDepth = 1421.269451; finalDepth = 1422.293414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.792547 # Actual altitude: 75 # Commanded vehicle depth:1421.269451 # Seafloor depth:-1493.061998 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.547483 meters # Minimum depth: 1493.208049 meters looking forward 100.000000 meters along route # Maximum depth: 1496.216782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.208049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983109; longitude = -129.982108; captureRadius = 10; duration = 101; initialDepth = 1423.208049; finalDepth = 1421.269451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.792547 # Actual altitude: 75 # Commanded vehicle depth:1423.208049 # Seafloor depth:-1493.208049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.653135 meters # Minimum depth: 1494.874265 meters looking forward 100.000000 meters along route # Maximum depth: 1496.492416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1424.874265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983920; longitude = -129.982710; captureRadius = 10; duration = 108; initialDepth = 1424.874265; finalDepth = 1423.208049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0068290000002 # Actual altitude: 75 # Commanded vehicle depth:1424.874265 # Seafloor depth:-1495.881094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.470842 meters # Minimum depth: 1496.032789 meters looking forward 100.000000 meters along route # Maximum depth: 1496.971910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.032789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984789; longitude = -129.983355; captureRadius = 10; duration = 112; initialDepth = 1426.032789; finalDepth = 1424.874265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0068290000002 # Actual altitude: 75 # Commanded vehicle depth:1426.032789 # Seafloor depth:-1496.430946 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.934311 meters # Minimum depth: 1492.630213 meters looking forward 100.000000 meters along route # Maximum depth: 1495.721634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1422.630213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985688; longitude = -129.984022; captureRadius = 10; duration = 112; initialDepth = 1422.630213; finalDepth = 1426.032789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0914210000001 # Actual altitude: 75 # Commanded vehicle depth:1422.630213 # Seafloor depth:-1495.721634 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.552234 meters # Minimum depth: 1493.573864 meters looking forward 100.000000 meters along route # Maximum depth: 1495.738118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.573864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986590; longitude = -129.984693; captureRadius = 10; duration = 100; initialDepth = 1423.573864; finalDepth = 1422.630213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0914210000001 # Actual altitude: 75 # Commanded vehicle depth:1423.573864 # Seafloor depth:-1495.143774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.181952 meters # Minimum depth: 1493.948920 meters looking forward 100.000000 meters along route # Maximum depth: 1495.338466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.948920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987394; longitude = -129.985289; captureRadius = 10; duration = 109; initialDepth = 1423.948920; finalDepth = 1423.573864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5699099999999 # Actual altitude: 75 # Commanded vehicle depth:1423.94892 # Seafloor depth:-1493.948920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.933274 meters # Minimum depth: 1490.852237 meters looking forward 100.000000 meters along route # Maximum depth: 1494.550481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.852237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988267; longitude = -129.985937; captureRadius = 10; duration = 112; initialDepth = 1420.852237; finalDepth = 1423.948920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6982439999999 # Actual altitude: 75 # Commanded vehicle depth:1420.852237 # Seafloor depth:-1494.550481 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.839137 meters # Minimum depth: 1490.668469 meters looking forward 100.000000 meters along route # Maximum depth: 1490.905076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.668469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989169; longitude = -129.986607; captureRadius = 10; duration = 103; initialDepth = 1420.668469; finalDepth = 1420.852237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.6982439999999 # Actual altitude: 75 # Commanded vehicle depth:1420.668469 # Seafloor depth:-1490.881266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.650783 meters # Minimum depth: 1490.705374 meters looking forward 100.000000 meters along route # Maximum depth: 1492.111624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1420.705374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989999; longitude = -129.987223; captureRadius = 10; duration = 108; initialDepth = 1420.705374; finalDepth = 1420.668469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2127970000001 # Actual altitude: 75 # Commanded vehicle depth:1420.705374 # Seafloor depth:-1490.705374 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.174578 meters # Minimum depth: 1491.949519 meters looking forward 100.000000 meters along route # Maximum depth: 1493.145666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1421.949519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990868; longitude = -129.987868; captureRadius = 10; duration = 110; initialDepth = 1421.949519; finalDepth = 1420.705374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1421.949519 # Seafloor depth:-1491.949519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.931874 meters # Minimum depth: 1493.044661 meters looking forward 100.000000 meters along route # Maximum depth: 1493.931977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.044661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991748; longitude = -129.988522; captureRadius = 10; duration = 112; initialDepth = 1423.044661; finalDepth = 1421.949519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1241140000002 # Actual altitude: 75 # Commanded vehicle depth:1423.044661 # Seafloor depth:-1493.168775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.843881 meters # Minimum depth: 1493.902310 meters looking forward 100.000000 meters along route # Maximum depth: 1497.626555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1423.902310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992651; longitude = -129.989192; captureRadius = 10; duration = 102; initialDepth = 1423.902310; finalDepth = 1423.044661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1241140000002 # Actual altitude: 75 # Commanded vehicle depth:1423.90231 # Seafloor depth:-1493.902310 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.649439 meters # Minimum depth: 1497.902733 meters looking forward 100.000000 meters along route # Maximum depth: 1504.253425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1427.902733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993473; longitude = -129.989802; captureRadius = 10; duration = 108; initialDepth = 1427.902733; finalDepth = 1423.902310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1427.902733 # Seafloor depth:-1497.902733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.167178 meters # Minimum depth: 1502.854857 meters looking forward 100.000000 meters along route # Maximum depth: 1504.454088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1432.854857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994342; longitude = -129.990447; captureRadius = 10; duration = 111; initialDepth = 1432.854857; finalDepth = 1427.902733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4145120000001 # Actual altitude: 75 # Commanded vehicle depth:1432.854857 # Seafloor depth:-1504.269369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.930475 meters # Minimum depth: 1502.825077 meters looking forward 100.000000 meters along route # Maximum depth: 1503.901457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1432.825077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.995230; longitude = -129.991107; captureRadius = 10; duration = 112; initialDepth = 1432.825077; finalDepth = 1432.854857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4145120000001 # Actual altitude: 75 # Commanded vehicle depth:1432.825077 # Seafloor depth:-1502.825077 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.848649 meters # Minimum depth: 1503.211672 meters looking forward 100.000000 meters along route # Maximum depth: 1506.078856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1433.211672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996133; longitude = -129.991777; captureRadius = 10; duration = 101; initialDepth = 1433.211672; finalDepth = 1432.825077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70 # Actual altitude: 75 # Commanded vehicle depth:1433.211672 # Seafloor depth:-1503.211672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.648095 meters # Minimum depth: 1504.476009 meters looking forward 100.000000 meters along route # Maximum depth: 1505.754221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1434.476009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.996947; longitude = -129.992381; captureRadius = 10; duration = 108; initialDepth = 1434.476009; finalDepth = 1433.211672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2782119999999 # Actual altitude: 75 # Commanded vehicle depth:1434.476009 # Seafloor depth:-1505.754221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.404587 meters # Minimum depth: 1504.499374 meters looking forward 100.000000 meters along route # Maximum depth: 1505.274352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1434.499374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.997815; longitude = -129.993026; captureRadius = 10; duration = 101; initialDepth = 1434.499374; finalDepth = 1434.476009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2782119999999 # Actual altitude: 75 # Commanded vehicle depth:1434.499374 # Seafloor depth:-1504.499374 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 29.256698 meters # Minimum depth: 1504.689201 meters looking forward 100.000000 meters along route # Maximum depth: 1506.209500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1434.689201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.998626; longitude = -129.993628; captureRadius = 10; duration = 29; initialDepth = 1434.689201; finalDepth = 1434.499374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7595290000002 # Actual altitude: 75 # Commanded vehicle depth:1434.689201 # Seafloor depth:-1505.448730 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.200016 meters # Minimum depth: 1506.035834 meters looking forward 100.000000 meters along route # Maximum depth: 1506.551516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1436.035834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.998860; longitude = -129.993800; captureRadius = 10; duration = 110; initialDepth = 1436.035834; finalDepth = 1434.689201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7595290000002 # Actual altitude: 75 # Commanded vehicle depth:1436.035834 # Seafloor depth:-1506.213586 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.910333 meters # Minimum depth: 1503.131746 meters looking forward 100.000000 meters along route # Maximum depth: 1506.101554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 70.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1433.131746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.999743; longitude = -129.994448; captureRadius = 10; duration = 101; initialDepth = 1433.131746; finalDepth = 1436.035834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9698080000001 # Actual altitude: 75 # Commanded vehicle depth:1433.131746 # Seafloor depth:-1506.101554 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 72.9698080000001 # Actual altitude: 75 # Commanded vehicle depth:1433.091634 # Seafloor depth:-1503.091634 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 37.50; MB_Bottom_Detect_Filter_Max_Depth = 180.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1503.091634 meters looking forward 100.000000 meters along route # Maximum depth: 1505.205908 meters looking forward 100.000000 meters along route # Vehicle depth: 1433.091634 meters behavior waypoint { latitude = 46.000560; longitude = -129.995046; captureRadius = 10; duration = 1000; depth = 1433.091634; speed = MISSION_SPEED; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1433.091634 meters set by local depth and desired altitude behavior descend { duration = 7842; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1503.091634 meters looking forward 100.000000 meters along route # Maximum depth: 1505.205908 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 46.000560; longitude = -129.995046; captureRadius = 10; duration = 500; depth = 50.000000; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 90.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 168.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.00; MB_Bottom_Detect_Filter_Max_Range = 168.00; MB_Bottom_Detect_Filter_Min_Depth = 35.00; MB_Bottom_Detect_Filter_Max_Depth = 168.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################