# 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: BarkleyMission03.rte # Mission File: BarkleyMission03.cfg # Distance: 36034.863687 (m) # Estimated Time: 28128 (s) 7.814 (hr) # Abort Time: 28800 (s) # Way Points: 34 # Route Points: 364 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 1500 (m) # Abort Vehicle Depth: 1600 (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 -126.118304 48.368214 -390.338356 0.000000 3 # 1 -126.090900 48.349796 -452.157898 2884.675011 1 # 2 -126.067090 48.314710 -791.645203 7167.707594 1 # 3 -126.057521 48.318349 -920.999557 7984.818550 1 # 4 -126.046904 48.309178 -1000.240631 9273.501322 4 # 5 -126.048535 48.308381 -1002.667297 9423.501963 3 # 6 -126.062011 48.320646 -697.948257 11114.692549 4 # 7 -126.063642 48.319848 -728.799545 11264.736240 3 # 8 -126.050165 48.307584 -1007.505981 12955.888971 4 # 9 -126.051796 48.306786 -1010.414444 13105.958196 3 # 10 -126.065273 48.319051 -725.599197 14797.208620 4 # 11 -126.066904 48.318253 -726.440369 14947.255148 3 # 12 -126.053427 48.305989 -1010.116562 16638.423865 4 # 13 -126.055057 48.305192 -1011.820099 16788.370328 3 # 14 -126.068535 48.317456 -750.162247 18479.590895 4 # 15 -126.070165 48.316658 -763.545502 18629.580455 3 # 16 -126.056688 48.304395 -1014.215759 20320.675458 4 # 17 -126.058318 48.303597 -1014.515305 20470.690527 3 # 18 -126.071796 48.315861 -768.178284 22161.927086 4 # 19 -126.073427 48.315063 -743.900314 22311.979290 3 # 20 -126.059949 48.302800 -1016.820206 24003.134153 4 # 21 -126.061579 48.302002 -1008.971024 24153.152055 3 # 22 -126.075057 48.314266 -730.520386 25844.404608 4 # 23 -126.070999 48.309050 -937.741348 26497.975353 3 # 24 -126.053164 48.316642 -981.031494 28067.555633 4 # 25 -126.050109 48.314036 -991.311813 28435.473905 3 # 26 -126.054556 48.308106 -999.546677 29172.909495 1 # 27 -126.067090 48.305815 -991.441757 30137.146179 4 # 28 -126.049929 48.300065 -1018.516586 31562.072291 1 # 29 -126.053074 48.305411 -1011.273224 32200.795948 1 # 30 -126.049255 48.312599 -993.212616 33048.952179 1 # 31 -126.072706 48.313812 -749.049479 34793.892580 1 # 32 -126.063856 48.317945 -761.518229 35595.325152 1 # 33 -126.062328 48.321763 -704.350505 36034.863687 1 # # A total of 364 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 28800; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1500.000000; abortDepth = 1600.000000; minAltitude = 50.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2726; horizontalMode = rudder; horizontal = 5.000000; pitch = 30.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 10.342064 meters # Minimum depth: 704.350505 meters looking forward 100.000000 meters along route # Maximum depth: 704.350505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.350505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321763; longitude = -126.062328; captureRadius = 10; duration = 10; initialDepth = 664.350505; finalDepth = 664.350505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:664.350505 # Seafloor depth:-704.350505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 108.591727 meters # Minimum depth: 694.416199 meters looking forward 100.000000 meters along route # Maximum depth: 701.786841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.416199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321673; longitude = -126.062364; captureRadius = 10; duration = 108; initialDepth = 654.416199; finalDepth = 664.350505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.370642 # Actual altitude: 50 # Commanded vehicle depth:654.416199 # Seafloor depth:-701.786841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 108.591829 meters # Minimum depth: 699.386707 meters looking forward 100.000000 meters along route # Maximum depth: 732.005768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.386707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320730; longitude = -126.062742; captureRadius = 10; duration = 108; initialDepth = 659.386707; finalDepth = 654.416199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.370642 # Actual altitude: 50 # Commanded vehicle depth:659.386707 # Seafloor depth:-699.386707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 108.591932 meters # Minimum depth: 733.778821 meters looking forward 100.000000 meters along route # Maximum depth: 752.051270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.778821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319786; longitude = -126.063119; captureRadius = 10; duration = 108; initialDepth = 693.778821; finalDepth = 659.386707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:693.778821 # Seafloor depth:-733.778821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 103.420983 meters # Minimum depth: 753.701538 meters looking forward 100.000000 meters along route # Maximum depth: 760.651575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.701538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318843; longitude = -126.063496; captureRadius = 10; duration = 103; initialDepth = 713.701538; finalDepth = 693.778821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.701538 # Seafloor depth:-753.701538 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 65.089459 meters # Minimum depth: 756.800120 meters looking forward 100.000000 meters along route # Maximum depth: 761.518229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.800120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317945; longitude = -126.063856; captureRadius = 10; duration = 65; initialDepth = 716.800120; finalDepth = 713.701538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.718109 # Actual altitude: 50 # Commanded vehicle depth:716.80012 # Seafloor depth:-761.518229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.420470 meters # Minimum depth: 748.193695 meters looking forward 100.000000 meters along route # Maximum depth: 756.505475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.193695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317609; longitude = -126.064575; captureRadius = 10; duration = 100; initialDepth = 708.193695; finalDepth = 716.800120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.31178 # Actual altitude: 50 # Commanded vehicle depth:708.193695 # Seafloor depth:-756.505475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 107.053963 meters # Minimum depth: 748.228029 meters looking forward 100.000000 meters along route # Maximum depth: 754.833092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.228029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317091; longitude = -126.065683; captureRadius = 10; duration = 107; initialDepth = 708.228029; finalDepth = 708.193695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.31178 # Actual altitude: 50 # Commanded vehicle depth:708.228029 # Seafloor depth:-748.228029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.013680 meters # Minimum depth: 755.190166 meters looking forward 100.000000 meters along route # Maximum depth: 765.291172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.190166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316539; longitude = -126.066866; captureRadius = 10; duration = 102; initialDepth = 715.190166; finalDepth = 708.228029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:715.190166 # Seafloor depth:-755.190166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.463468 meters # Minimum depth: 765.961182 meters looking forward 100.000000 meters along route # Maximum depth: 777.776121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 725.961182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316013; longitude = -126.067992; captureRadius = 10; duration = 105; initialDepth = 725.961182; finalDepth = 715.190166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:725.961182 # Seafloor depth:-765.961182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.841943 meters # Minimum depth: 777.796235 meters looking forward 100.000000 meters along route # Maximum depth: 781.088339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.796235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315469; longitude = -126.069157; captureRadius = 10; duration = 109; initialDepth = 737.796235; finalDepth = 725.961182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:737.796235 # Seafloor depth:-777.796235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.842703 meters # Minimum depth: 768.066232 meters looking forward 100.000000 meters along route # Maximum depth: 781.123076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 728.066232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314902; longitude = -126.070370; captureRadius = 10; duration = 109; initialDepth = 728.066232; finalDepth = 737.796235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.056844 # Actual altitude: 53.056844 # Commanded vehicle depth:728.066232 # Seafloor depth:-781.123076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 127.34; MB_Bottom_Detect_Filter_Min_Depth = 26.53; MB_Bottom_Detect_Filter_Max_Depth = 127.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.706886 meters # Minimum depth: 749.283607 meters looking forward 100.000000 meters along route # Maximum depth: 765.675418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.283607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314336; longitude = -126.071583; captureRadius = 10; duration = 101; initialDepth = 709.283607; finalDepth = 728.066232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3918110000001 # Actual altitude: 56.3918110000001 # Commanded vehicle depth:709.283607 # Seafloor depth:-765.675418 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 135.34; MB_Bottom_Detect_Filter_Min_Depth = 28.20; MB_Bottom_Detect_Filter_Max_Depth = 135.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 33.426776 meters # Minimum depth: 749.049479 meters looking forward 100.000000 meters along route # Maximum depth: 757.822368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.049479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313812; longitude = -126.072706; captureRadius = 10; duration = 33; initialDepth = 709.049479; finalDepth = 709.283607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3918110000001 # Actual altitude: 56.3918110000001 # Commanded vehicle depth:709.049479 # Seafloor depth:-749.049479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 135.34; MB_Bottom_Detect_Filter_Min_Depth = 28.20; MB_Bottom_Detect_Filter_Max_Depth = 135.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.280454 meters # Minimum depth: 753.206305 meters looking forward 100.000000 meters along route # Maximum depth: 769.714113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.206305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313788; longitude = -126.072257; captureRadius = 10; duration = 100; initialDepth = 713.206305; finalDepth = 709.049479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:713.206305 # Seafloor depth:-753.206305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.280643 meters # Minimum depth: 771.196368 meters looking forward 100.000000 meters along route # Maximum depth: 794.576340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.196368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313719; longitude = -126.070909; captureRadius = 10; duration = 100; initialDepth = 731.196368; finalDepth = 713.206305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:731.196368 # Seafloor depth:-771.196368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.280832 meters # Minimum depth: 797.100223 meters looking forward 100.000000 meters along route # Maximum depth: 810.950159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.100223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313649; longitude = -126.069561; captureRadius = 10; duration = 100; initialDepth = 757.100223; finalDepth = 731.196368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:757.100223 # Seafloor depth:-797.100223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.281022 meters # Minimum depth: 812.164443 meters looking forward 100.000000 meters along route # Maximum depth: 816.224354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.164443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313579; longitude = -126.068213; captureRadius = 10; duration = 100; initialDepth = 772.164443; finalDepth = 757.100223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:772.164443 # Seafloor depth:-812.164443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.281212 meters # Minimum depth: 814.025779 meters looking forward 100.000000 meters along route # Maximum depth: 816.207328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.025779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313510; longitude = -126.066866; captureRadius = 10; duration = 100; initialDepth = 774.025779; finalDepth = 772.164443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1815489999999 # Actual altitude: 50 # Commanded vehicle depth:774.025779 # Seafloor depth:-816.207328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.281400 meters # Minimum depth: 812.626669 meters looking forward 100.000000 meters along route # Maximum depth: 822.166376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 772.626669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313440; longitude = -126.065518; captureRadius = 10; duration = 100; initialDepth = 772.626669; finalDepth = 774.025779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.1815489999999 # Actual altitude: 50 # Commanded vehicle depth:772.626669 # Seafloor depth:-813.272663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.281591 meters # Minimum depth: 824.183859 meters looking forward 100.000000 meters along route # Maximum depth: 841.536258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.183859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313370; longitude = -126.064170; captureRadius = 10; duration = 100; initialDepth = 784.183859; finalDepth = 772.626669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.645994 # Actual altitude: 50 # Commanded vehicle depth:784.183859 # Seafloor depth:-824.183859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.281779 meters # Minimum depth: 842.382256 meters looking forward 100.000000 meters along route # Maximum depth: 857.332148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.382256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313301; longitude = -126.062822; captureRadius = 10; duration = 100; initialDepth = 802.382256; finalDepth = 784.183859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.382256 # Seafloor depth:-842.382256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.281970 meters # Minimum depth: 859.586912 meters looking forward 100.000000 meters along route # Maximum depth: 874.949300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.586912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313231; longitude = -126.061475; captureRadius = 10; duration = 100; initialDepth = 819.586912; finalDepth = 802.382256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:819.586912 # Seafloor depth:-859.586912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.282159 meters # Minimum depth: 875.922597 meters looking forward 100.000000 meters along route # Maximum depth: 882.363416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.922597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313161; longitude = -126.060127; captureRadius = 10; duration = 100; initialDepth = 835.922597; finalDepth = 819.586912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:835.922597 # Seafloor depth:-875.922597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.282348 meters # Minimum depth: 882.963293 meters looking forward 100.000000 meters along route # Maximum depth: 887.887879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.963293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313091; longitude = -126.058779; captureRadius = 10; duration = 100; initialDepth = 842.963293; finalDepth = 835.922597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:842.963293 # Seafloor depth:-882.963293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.282538 meters # Minimum depth: 888.886380 meters looking forward 100.000000 meters along route # Maximum depth: 901.451469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.886380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313022; longitude = -126.057432; captureRadius = 10; duration = 100; initialDepth = 848.886380; finalDepth = 842.963293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:848.88638 # Seafloor depth:-888.886380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.282728 meters # Minimum depth: 903.481829 meters looking forward 100.000000 meters along route # Maximum depth: 937.743095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.481829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312952; longitude = -126.056084; captureRadius = 10; duration = 100; initialDepth = 863.481829; finalDepth = 848.886380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:863.481829 # Seafloor depth:-903.481829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.282917 meters # Minimum depth: 942.684238 meters looking forward 100.000000 meters along route # Maximum depth: 979.340622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.684238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312882; longitude = -126.054736; captureRadius = 10; duration = 100; initialDepth = 902.684238; finalDepth = 863.481829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:902.684238 # Seafloor depth:-942.684238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.283107 meters # Minimum depth: 982.750610 meters looking forward 100.000000 meters along route # Maximum depth: 991.134751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.750610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312813; longitude = -126.053388; captureRadius = 10; duration = 100; initialDepth = 942.750610; finalDepth = 902.684238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:942.75061 # Seafloor depth:-982.750610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.283296 meters # Minimum depth: 991.994640 meters looking forward 100.000000 meters along route # Maximum depth: 993.271256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.994640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312743; longitude = -126.052041; captureRadius = 10; duration = 100; initialDepth = 951.994640; finalDepth = 942.750610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:951.99464 # Seafloor depth:-991.994640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 107.003629 meters # Minimum depth: 992.880655 meters looking forward 100.000000 meters along route # Maximum depth: 993.764297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.880655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312673; longitude = -126.050693; captureRadius = 10; duration = 107; initialDepth = 952.880655; finalDepth = 951.994640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.613932 # Actual altitude: 50 # Commanded vehicle depth:952.880655 # Seafloor depth:-993.494587 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 109.850585 meters # Minimum depth: 993.212616 meters looking forward 100.000000 meters along route # Maximum depth: 996.075551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.212616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312599; longitude = -126.049255; captureRadius = 10; duration = 109; initialDepth = 953.212616; finalDepth = 952.880655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.613932 # Actual altitude: 50 # Commanded vehicle depth:953.212616 # Seafloor depth:-993.212616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 107.531396 meters # Minimum depth: 995.319604 meters looking forward 100.000000 meters along route # Maximum depth: 996.790579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.319604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311668; longitude = -126.049750; captureRadius = 10; duration = 107; initialDepth = 955.319604; finalDepth = 953.212616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.1994109999999 # Actual altitude: 50 # Commanded vehicle depth:955.319604 # Seafloor depth:-995.519015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.986903 meters # Minimum depth: 993.790235 meters looking forward 100.000000 meters along route # Maximum depth: 996.293391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.790235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310757; longitude = -126.050234; captureRadius = 10; duration = 101; initialDepth = 953.790235; finalDepth = 955.319604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.503156 # Actual altitude: 50 # Commanded vehicle depth:953.790235 # Seafloor depth:-996.293391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.745988 meters # Minimum depth: 995.108127 meters looking forward 100.000000 meters along route # Maximum depth: 1000.375960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.108127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309892; longitude = -126.050693; captureRadius = 10; duration = 104; initialDepth = 955.108127; finalDepth = 953.790235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.503156 # Actual altitude: 50 # Commanded vehicle depth:955.108127 # Seafloor depth:-995.108127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.772995 meters # Minimum depth: 1001.430997 meters looking forward 100.000000 meters along route # Maximum depth: 1006.294559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.430997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309005; longitude = -126.051165; captureRadius = 10; duration = 104; initialDepth = 961.430997; finalDepth = 955.108127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:961.430997 # Seafloor depth:-1001.430997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.960562 meters # Minimum depth: 1006.408254 meters looking forward 100.000000 meters along route # Maximum depth: 1008.602129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.408254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308117; longitude = -126.051636; captureRadius = 10; duration = 101; initialDepth = 966.408254; finalDepth = 961.430997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:966.408254 # Seafloor depth:-1006.408254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 111.318345 meters # Minimum depth: 1008.793868 meters looking forward 100.000000 meters along route # Maximum depth: 1010.790569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.793868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307253; longitude = -126.052096; captureRadius = 10; duration = 111; initialDepth = 968.793868; finalDepth = 966.408254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:968.793868 # Seafloor depth:-1008.793868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 105.989457 meters # Minimum depth: 1010.911866 meters looking forward 100.000000 meters along route # Maximum depth: 1011.527522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.911866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306309; longitude = -126.052597; captureRadius = 10; duration = 105; initialDepth = 970.911866; finalDepth = 968.793868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:970.911866 # Seafloor depth:-1010.911866 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 102.008048 meters # Minimum depth: 1011.273224 meters looking forward 100.000000 meters along route # Maximum depth: 1013.046558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.273224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305411; longitude = -126.053074; captureRadius = 10; duration = 102; initialDepth = 971.273224; finalDepth = 970.911866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:971.273224 # Seafloor depth:-1011.273224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 112.714460 meters # Minimum depth: 1013.144768 meters looking forward 100.000000 meters along route # Maximum depth: 1014.379890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.144768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304557; longitude = -126.052572; captureRadius = 10; duration = 112; initialDepth = 973.144768; finalDepth = 971.273224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:973.144768 # Seafloor depth:-1013.144768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 112.714749 meters # Minimum depth: 1014.506008 meters looking forward 100.000000 meters along route # Maximum depth: 1016.359217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.506008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303614; longitude = -126.052017; captureRadius = 10; duration = 112; initialDepth = 974.506008; finalDepth = 973.144768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:974.506008 # Seafloor depth:-1014.506008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.374896 meters # Minimum depth: 1016.488537 meters looking forward 100.000000 meters along route # Maximum depth: 1018.076829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.488537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302670; longitude = -126.051462; captureRadius = 10; duration = 101; initialDepth = 976.488537; finalDepth = 974.506008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:976.488537 # Seafloor depth:-1016.488537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.484616 meters # Minimum depth: 1018.086754 meters looking forward 100.000000 meters along route # Maximum depth: 1018.601498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.086754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301822; longitude = -126.050963; captureRadius = 10; duration = 109; initialDepth = 978.086754; finalDepth = 976.488537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.004729 # Actual altitude: 50 # Commanded vehicle depth:978.086754 # Seafloor depth:-1018.091483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.426888 meters # Minimum depth: 1018.527121 meters looking forward 100.000000 meters along route # Maximum depth: 1018.709550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.527121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300906; longitude = -126.050423; captureRadius = 10; duration = 100; initialDepth = 978.527121; finalDepth = 978.086754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.004729 # Actual altitude: 50 # Commanded vehicle depth:978.527121 # Seafloor depth:-1018.527121 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 11.086609 meters # Minimum depth: 1018.516586 meters looking forward 100.000000 meters along route # Maximum depth: 1018.709550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.516586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300065; longitude = -126.049929; captureRadius = 10; duration = 11; initialDepth = 978.516586; finalDepth = 978.527121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:978.516586 # Seafloor depth:-1018.516586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.199150 meters # Minimum depth: 1018.530083 meters looking forward 100.000000 meters along route # Maximum depth: 1018.654427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.530083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300110; longitude = -126.050063; captureRadius = 10; duration = 100; initialDepth = 978.530083; finalDepth = 978.516586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.085048 # Actual altitude: 50 # Commanded vehicle depth:978.530083 # Seafloor depth:-1018.615131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.198470 meters # Minimum depth: 1018.188652 meters looking forward 100.000000 meters along route # Maximum depth: 1018.906367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.188652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300514; longitude = -126.051269; captureRadius = 10; duration = 100; initialDepth = 978.188652; finalDepth = 978.530083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.5033129999999 # Actual altitude: 50 # Commanded vehicle depth:978.188652 # Seafloor depth:-1018.691965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.197791 meters # Minimum depth: 1017.155381 meters looking forward 100.000000 meters along route # Maximum depth: 1018.181927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.155381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.300918; longitude = -126.052476; captureRadius = 10; duration = 100; initialDepth = 977.155381; finalDepth = 978.188652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0265459999999 # Actual altitude: 50 # Commanded vehicle depth:977.155381 # Seafloor depth:-1018.181927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.197111 meters # Minimum depth: 1015.587153 meters looking forward 100.000000 meters along route # Maximum depth: 1017.114427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.587153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301323; longitude = -126.053683; captureRadius = 10; duration = 100; initialDepth = 975.587153; finalDepth = 977.155381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.527274 # Actual altitude: 50 # Commanded vehicle depth:975.587153 # Seafloor depth:-1017.114427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.196431 meters # Minimum depth: 1015.581500 meters looking forward 100.000000 meters along route # Maximum depth: 1016.210260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.581500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.301727; longitude = -126.054889; captureRadius = 10; duration = 100; initialDepth = 975.581500; finalDepth = 975.587153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.527274 # Actual altitude: 50 # Commanded vehicle depth:975.5815 # Seafloor depth:-1015.581638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.195752 meters # Minimum depth: 1015.781812 meters looking forward 100.000000 meters along route # Maximum depth: 1016.286717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.781812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302131; longitude = -126.056096; captureRadius = 10; duration = 100; initialDepth = 975.781812; finalDepth = 975.581500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.2620740000001 # Actual altitude: 50 # Commanded vehicle depth:975.781812 # Seafloor depth:-1016.043886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.233593 meters # Minimum depth: 1015.623601 meters looking forward 100.000000 meters along route # Maximum depth: 1016.350200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.623601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302536; longitude = -126.057303; captureRadius = 10; duration = 100; initialDepth = 975.623601; finalDepth = 975.781812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.324217 # Actual altitude: 50 # Commanded vehicle depth:975.623601 # Seafloor depth:-1015.947818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.714017 meters # Minimum depth: 1015.623424 meters looking forward 100.000000 meters along route # Maximum depth: 1017.044136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.623424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302940; longitude = -126.058510; captureRadius = 10; duration = 100; initialDepth = 975.623424; finalDepth = 975.623601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.324217 # Actual altitude: 50 # Commanded vehicle depth:975.623424 # Seafloor depth:-1015.623424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.713331 meters # Minimum depth: 1016.785202 meters looking forward 100.000000 meters along route # Maximum depth: 1017.063144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.785202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303347; longitude = -126.059723; captureRadius = 10; duration = 100; initialDepth = 976.785202; finalDepth = 975.623424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.271129 # Actual altitude: 50 # Commanded vehicle depth:976.785202 # Seafloor depth:-1017.056331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.712644 meters # Minimum depth: 1016.732216 meters looking forward 100.000000 meters along route # Maximum depth: 1017.851257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.732216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303753; longitude = -126.060936; captureRadius = 10; duration = 100; initialDepth = 976.732216; finalDepth = 976.785202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.271129 # Actual altitude: 50 # Commanded vehicle depth:976.732216 # Seafloor depth:-1016.782231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.711957 meters # Minimum depth: 1013.817645 meters looking forward 100.000000 meters along route # Maximum depth: 1017.570990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.817645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304159; longitude = -126.062149; captureRadius = 10; duration = 100; initialDepth = 973.817645; finalDepth = 976.732216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.7533450000001 # Actual altitude: 50 # Commanded vehicle depth:973.817645 # Seafloor depth:-1017.570990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.711272 meters # Minimum depth: 1013.888281 meters looking forward 100.000000 meters along route # Maximum depth: 1016.654051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.888281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304566; longitude = -126.063362; captureRadius = 10; duration = 100; initialDepth = 973.888281; finalDepth = 973.817645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.7533450000001 # Actual altitude: 50 # Commanded vehicle depth:973.888281 # Seafloor depth:-1016.654051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.710584 meters # Minimum depth: 1010.913709 meters looking forward 100.000000 meters along route # Maximum depth: 1013.855592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.913709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304972; longitude = -126.064575; captureRadius = 10; duration = 100; initialDepth = 970.913709; finalDepth = 973.888281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.941883 # Actual altitude: 50 # Commanded vehicle depth:970.913709 # Seafloor depth:-1013.855592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 108.147400 meters # Minimum depth: 993.018791 meters looking forward 100.000000 meters along route # Maximum depth: 1010.665549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.018791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305379; longitude = -126.065787; captureRadius = 10; duration = 108; initialDepth = 953.018791; finalDepth = 970.913709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6467580000001 # Actual altitude: 57.6467580000001 # Commanded vehicle depth:953.018791 # Seafloor depth:-1010.665549 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.82; MB_Bottom_Detect_Filter_Max_Range = 138.35; MB_Bottom_Detect_Filter_Min_Depth = 28.82; MB_Bottom_Detect_Filter_Max_Depth = 138.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 27.627559 meters # Minimum depth: 991.441757 meters looking forward 100.000000 meters along route # Maximum depth: 1005.070404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.441757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305815; longitude = -126.067090; captureRadius = 10; duration = 27; initialDepth = 951.441757; finalDepth = 953.018791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6467580000001 # Actual altitude: 57.6467580000001 # Commanded vehicle depth:951.441757 # Seafloor depth:-991.441757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.82; MB_Bottom_Detect_Filter_Max_Range = 138.35; MB_Bottom_Detect_Filter_Min_Depth = 28.82; MB_Bottom_Detect_Filter_Max_Depth = 138.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.681136 meters # Minimum depth: 995.431700 meters looking forward 100.000000 meters along route # Maximum depth: 1007.784779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.431700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305881; longitude = -126.066731; captureRadius = 10; duration = 103; initialDepth = 955.431700; finalDepth = 951.441757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:955.4317 # Seafloor depth:-995.431700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.680728 meters # Minimum depth: 1008.817897 meters looking forward 100.000000 meters along route # Maximum depth: 1010.821315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.817897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306127; longitude = -126.065383; captureRadius = 10; duration = 103; initialDepth = 968.817897; finalDepth = 955.431700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:968.817897 # Seafloor depth:-1008.817897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.680318 meters # Minimum depth: 1009.350498 meters looking forward 100.000000 meters along route # Maximum depth: 1010.618486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.350498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306373; longitude = -126.064035; captureRadius = 10; duration = 103; initialDepth = 969.350498; finalDepth = 968.817897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2679879999999 # Actual altitude: 50 # Commanded vehicle depth:969.350498 # Seafloor depth:-1010.618486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.679910 meters # Minimum depth: 1004.964303 meters looking forward 100.000000 meters along route # Maximum depth: 1009.260266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.964303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306620; longitude = -126.062688; captureRadius = 10; duration = 103; initialDepth = 964.964303; finalDepth = 969.350498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.1036770000001 # Actual altitude: 50 # Commanded vehicle depth:964.964303 # Seafloor depth:-1009.067980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.007360 meters # Minimum depth: 1003.687971 meters looking forward 100.000000 meters along route # Maximum depth: 1005.662346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.687971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306866; longitude = -126.061340; captureRadius = 10; duration = 106; initialDepth = 963.687971; finalDepth = 964.964303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.1036770000001 # Actual altitude: 50 # Commanded vehicle depth:963.687971 # Seafloor depth:-1004.680327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.351232 meters # Minimum depth: 999.236685 meters looking forward 100.000000 meters along route # Maximum depth: 1005.011363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.236685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307118; longitude = -126.059962; captureRadius = 10; duration = 101; initialDepth = 959.236685; finalDepth = 963.687971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.507558 # Actual altitude: 50 # Commanded vehicle depth:959.236685 # Seafloor depth:-1004.744243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.678683 meters # Minimum depth: 991.810867 meters looking forward 100.000000 meters along route # Maximum depth: 997.648710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.810867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307359; longitude = -126.058645; captureRadius = 10; duration = 103; initialDepth = 951.810867; finalDepth = 959.236685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.837843 # Actual altitude: 50 # Commanded vehicle depth:951.810867 # Seafloor depth:-997.648710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.678274 meters # Minimum depth: 987.956158 meters looking forward 100.000000 meters along route # Maximum depth: 991.922355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.956158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307605; longitude = -126.057297; captureRadius = 10; duration = 103; initialDepth = 947.956158; finalDepth = 951.810867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.837843 # Actual altitude: 50 # Commanded vehicle depth:947.956158 # Seafloor depth:-991.922355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 107.171484 meters # Minimum depth: 990.040098 meters looking forward 100.000000 meters along route # Maximum depth: 999.410022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.040098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307851; longitude = -126.055949; captureRadius = 10; duration = 107; initialDepth = 950.040098; finalDepth = 947.956158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.9661970000001 # Actual altitude: 50 # Commanded vehicle depth:950.040098 # Seafloor depth:-990.040098 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 27.957851 meters # Minimum depth: 993.301871 meters looking forward 100.000000 meters along route # Maximum depth: 999.546677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.301871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308106; longitude = -126.054556; captureRadius = 10; duration = 27; initialDepth = 953.301871; finalDepth = 950.040098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.244806 # Actual altitude: 50 # Commanded vehicle depth:953.301871 # Seafloor depth:-999.546677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.559552 meters # Minimum depth: 988.927192 meters looking forward 100.000000 meters along route # Maximum depth: 997.340984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.927192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308331; longitude = -126.054387; captureRadius = 10; duration = 100; initialDepth = 948.927192; finalDepth = 953.301871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4137920000001 # Actual altitude: 50 # Commanded vehicle depth:948.927192 # Seafloor depth:-997.340984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.559269 meters # Minimum depth: 987.625910 meters looking forward 100.000000 meters along route # Maximum depth: 990.234613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.625910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309139; longitude = -126.053781; captureRadius = 10; duration = 100; initialDepth = 947.625910; finalDepth = 948.927192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4137920000001 # Actual altitude: 50 # Commanded vehicle depth:947.62591 # Seafloor depth:-988.879411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.558984 meters # Minimum depth: 990.215685 meters looking forward 100.000000 meters along route # Maximum depth: 995.728213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.215685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309948; longitude = -126.053175; captureRadius = 10; duration = 100; initialDepth = 950.215685; finalDepth = 947.625910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.253501 # Actual altitude: 50 # Commanded vehicle depth:950.215685 # Seafloor depth:-990.215685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.558700 meters # Minimum depth: 993.884179 meters looking forward 100.000000 meters along route # Maximum depth: 996.331878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.884179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310757; longitude = -126.052568; captureRadius = 10; duration = 100; initialDepth = 953.884179; finalDepth = 950.215685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.965326 # Actual altitude: 50 # Commanded vehicle depth:953.884179 # Seafloor depth:-995.849505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.558416 meters # Minimum depth: 992.971150 meters looking forward 100.000000 meters along route # Maximum depth: 994.111966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.971150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311565; longitude = -126.051962; captureRadius = 10; duration = 100; initialDepth = 952.971150; finalDepth = 953.884179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.965326 # Actual altitude: 50 # Commanded vehicle depth:952.97115 # Seafloor depth:-993.633999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.558132 meters # Minimum depth: 992.483634 meters looking forward 100.000000 meters along route # Maximum depth: 993.168027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.483634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312374; longitude = -126.051355; captureRadius = 10; duration = 100; initialDepth = 952.483634; finalDepth = 952.971150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6628490000001 # Actual altitude: 50 # Commanded vehicle depth:952.483634 # Seafloor depth:-992.909719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.124686 meters # Minimum depth: 991.591929 meters looking forward 100.000000 meters along route # Maximum depth: 992.250279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.591929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313183; longitude = -126.050749; captureRadius = 10; duration = 106; initialDepth = 951.591929; finalDepth = 952.483634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6583499999999 # Actual altitude: 50 # Commanded vehicle depth:951.591929 # Seafloor depth:-992.250279 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 54.105407 meters # Minimum depth: 989.876043 meters looking forward 100.000000 meters along route # Maximum depth: 992.068673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.876043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314036; longitude = -126.050109; captureRadius = 10; duration = 54; initialDepth = 949.876043; finalDepth = 951.591929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.43577 # Actual altitude: 50 # Commanded vehicle depth:949.876043 # Seafloor depth:-991.311813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 110.820738 meters # Minimum depth: 987.852624 meters looking forward 100.000000 meters along route # Maximum depth: 989.801186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.852624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314419; longitude = -126.050558; captureRadius = 10; duration = 110; initialDepth = 947.852624; finalDepth = 949.876043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.948562 # Actual altitude: 50 # Commanded vehicle depth:947.852624 # Seafloor depth:-989.801186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.179631 meters # Minimum depth: 984.289275 meters looking forward 100.000000 meters along route # Maximum depth: 987.474181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.289275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315204; longitude = -126.051478; captureRadius = 10; duration = 100; initialDepth = 944.289275; finalDepth = 947.852624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1849060000001 # Actual altitude: 50 # Commanded vehicle depth:944.289275 # Seafloor depth:-987.474181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.812496 meters # Minimum depth: 981.070333 meters looking forward 100.000000 meters along route # Maximum depth: 984.003353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.070333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315914; longitude = -126.052310; captureRadius = 10; duration = 102; initialDepth = 941.070333; finalDepth = 944.289275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1849060000001 # Actual altitude: 50 # Commanded vehicle depth:941.070333 # Seafloor depth:-984.003353 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 79.054113 meters # Minimum depth: 977.560967 meters looking forward 100.000000 meters along route # Maximum depth: 981.199598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.560967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316642; longitude = -126.053164; captureRadius = 10; duration = 79; initialDepth = 937.560967; finalDepth = 941.070333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4705269999999 # Actual altitude: 50 # Commanded vehicle depth:937.560967 # Seafloor depth:-981.031494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.742848 meters # Minimum depth: 941.544575 meters looking forward 100.000000 meters along route # Maximum depth: 977.454231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.544575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316260; longitude = -126.054062; captureRadius = 10; duration = 106; initialDepth = 901.544575; finalDepth = 937.560967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.909656 # Actual altitude: 75.909656 # Commanded vehicle depth:901.544575 # Seafloor depth:-977.454231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 182.18; MB_Bottom_Detect_Filter_Min_Depth = 37.95; MB_Bottom_Detect_Filter_Max_Depth = 182.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 111.447855 meters # Minimum depth: 910.304554 meters looking forward 100.000000 meters along route # Maximum depth: 941.544214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.304554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315743; longitude = -126.055275; captureRadius = 10; duration = 111; initialDepth = 870.304554; finalDepth = 901.544575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.909656 # Actual altitude: 75.909656 # Commanded vehicle depth:870.304554 # Seafloor depth:-941.544214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 182.18; MB_Bottom_Detect_Filter_Min_Depth = 37.95; MB_Bottom_Detect_Filter_Max_Depth = 182.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.036709 meters # Minimum depth: 900.225369 meters looking forward 100.000000 meters along route # Maximum depth: 909.286613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.225369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315204; longitude = -126.056542; captureRadius = 10; duration = 102; initialDepth = 860.225369; finalDepth = 870.304554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.23966 # Actual altitude: 71.23966 # Commanded vehicle depth:860.225369 # Seafloor depth:-909.286613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.62; MB_Bottom_Detect_Filter_Max_Range = 170.98; MB_Bottom_Detect_Filter_Min_Depth = 35.62; MB_Bottom_Detect_Filter_Max_Depth = 170.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.743896 meters # Minimum depth: 891.574639 meters looking forward 100.000000 meters along route # Maximum depth: 898.490038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.574639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314711; longitude = -126.057701; captureRadius = 10; duration = 106; initialDepth = 851.574639; finalDepth = 860.225369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.061244 # Actual altitude: 50 # Commanded vehicle depth:851.574639 # Seafloor depth:-898.490038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.744608 meters # Minimum depth: 878.677342 meters looking forward 100.000000 meters along route # Maximum depth: 890.606477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.677342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314194; longitude = -126.058914; captureRadius = 10; duration = 106; initialDepth = 838.677342; finalDepth = 851.574639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9291350000001 # Actual altitude: 51.9291350000001 # Commanded vehicle depth:838.677342 # Seafloor depth:-890.606477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 124.63; MB_Bottom_Detect_Filter_Min_Depth = 25.96; MB_Bottom_Detect_Filter_Max_Depth = 124.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.745320 meters # Minimum depth: 861.847711 meters looking forward 100.000000 meters along route # Maximum depth: 877.544141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.847711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313678; longitude = -126.060127; captureRadius = 10; duration = 106; initialDepth = 821.847711; finalDepth = 838.677342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.69643 # Actual altitude: 55.69643 # Commanded vehicle depth:821.847711 # Seafloor depth:-877.544141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.85; MB_Bottom_Detect_Filter_Max_Range = 133.67; MB_Bottom_Detect_Filter_Min_Depth = 27.85; MB_Bottom_Detect_Filter_Max_Depth = 133.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 107.117379 meters # Minimum depth: 847.263795 meters looking forward 100.000000 meters along route # Maximum depth: 861.363214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.263795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313162; longitude = -126.061340; captureRadius = 10; duration = 107; initialDepth = 807.263795; finalDepth = 821.847711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.69643 # Actual altitude: 55.69643 # Commanded vehicle depth:807.263795 # Seafloor depth:-861.363214 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.85; MB_Bottom_Detect_Filter_Max_Range = 133.67; MB_Bottom_Detect_Filter_Min_Depth = 27.85; MB_Bottom_Detect_Filter_Max_Depth = 133.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 111.452320 meters # Minimum depth: 842.886872 meters looking forward 100.000000 meters along route # Maximum depth: 847.240144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.886872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312644; longitude = -126.062557; captureRadius = 10; duration = 111; initialDepth = 802.886872; finalDepth = 807.263795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.099419 # Actual altitude: 54.099419 # Commanded vehicle depth:802.886872 # Seafloor depth:-847.240144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 129.84; MB_Bottom_Detect_Filter_Min_Depth = 27.05; MB_Bottom_Detect_Filter_Max_Depth = 129.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.670536 meters # Minimum depth: 844.283101 meters looking forward 100.000000 meters along route # Maximum depth: 851.392503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.283101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312104; longitude = -126.063824; captureRadius = 10; duration = 101; initialDepth = 804.283101; finalDepth = 802.886872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3532719999999 # Actual altitude: 50 # Commanded vehicle depth:804.283101 # Seafloor depth:-844.283101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.748170 meters # Minimum depth: 855.008071 meters looking forward 100.000000 meters along route # Maximum depth: 870.379544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.008071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311613; longitude = -126.064979; captureRadius = 10; duration = 106; initialDepth = 815.008071; finalDepth = 804.283101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:815.008071 # Seafloor depth:-855.008071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.748882 meters # Minimum depth: 871.875517 meters looking forward 100.000000 meters along route # Maximum depth: 873.852996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 831.875517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311096; longitude = -126.066192; captureRadius = 10; duration = 106; initialDepth = 831.875517; finalDepth = 815.008071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:831.875517 # Seafloor depth:-871.875517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.749595 meters # Minimum depth: 872.911255 meters looking forward 100.000000 meters along route # Maximum depth: 877.748118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.911255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310580; longitude = -126.067405; captureRadius = 10; duration = 106; initialDepth = 832.911255; finalDepth = 831.875517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.514678 # Actual altitude: 50 # Commanded vehicle depth:832.911255 # Seafloor depth:-873.425933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 107.491940 meters # Minimum depth: 877.937775 meters looking forward 100.000000 meters along route # Maximum depth: 896.328394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.937775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310064; longitude = -126.068618; captureRadius = 10; duration = 107; initialDepth = 837.937775; finalDepth = 832.911255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.514678 # Actual altitude: 50 # Commanded vehicle depth:837.937775 # Seafloor depth:-877.937775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.086109 meters # Minimum depth: 896.544494 meters looking forward 100.000000 meters along route # Maximum depth: 936.094407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.544494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309544; longitude = -126.069839; captureRadius = 10; duration = 102; initialDepth = 856.544494; finalDepth = 837.937775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:856.544494 # Seafloor depth:-896.544494 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 44.982597 meters # Minimum depth: 923.455926 meters looking forward 100.000000 meters along route # Maximum depth: 938.519500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.455926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309050; longitude = -126.070999; captureRadius = 10; duration = 44; initialDepth = 883.455926; finalDepth = 856.544494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.285422 # Actual altitude: 54.285422 # Commanded vehicle depth:883.455926 # Seafloor depth:-937.741348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.14; MB_Bottom_Detect_Filter_Max_Range = 130.29; MB_Bottom_Detect_Filter_Min_Depth = 27.14; MB_Bottom_Detect_Filter_Max_Depth = 130.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.323197 meters # Minimum depth: 890.096914 meters looking forward 100.000000 meters along route # Maximum depth: 932.404349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.096914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309409; longitude = -126.071278; captureRadius = 10; duration = 101; initialDepth = 850.096914; finalDepth = 883.455926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3074350000001 # Actual altitude: 82.3074350000001 # Commanded vehicle depth:850.096914 # Seafloor depth:-932.404349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.15; MB_Bottom_Detect_Filter_Max_Range = 197.54; MB_Bottom_Detect_Filter_Min_Depth = 41.15; MB_Bottom_Detect_Filter_Max_Depth = 197.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.322841 meters # Minimum depth: 838.521712 meters looking forward 100.000000 meters along route # Maximum depth: 884.389571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.521712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310218; longitude = -126.071907; captureRadius = 10; duration = 101; initialDepth = 798.521712; finalDepth = 850.096914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8678590000001 # Actual altitude: 85.8678590000001 # Commanded vehicle depth:798.521712 # Seafloor depth:-884.389571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 42.93; MB_Bottom_Detect_Filter_Max_Depth = 206.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.322486 meters # Minimum depth: 803.938483 meters looking forward 100.000000 meters along route # Maximum depth: 837.995202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 763.938483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311026; longitude = -126.072537; captureRadius = 10; duration = 101; initialDepth = 763.938483; finalDepth = 798.521712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8678590000001 # Actual altitude: 85.8678590000001 # Commanded vehicle depth:763.938483 # Seafloor depth:-837.995202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 206.08; MB_Bottom_Detect_Filter_Min_Depth = 42.93; MB_Bottom_Detect_Filter_Max_Depth = 206.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.322131 meters # Minimum depth: 754.734573 meters looking forward 100.000000 meters along route # Maximum depth: 797.479464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.734573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311835; longitude = -126.073166; captureRadius = 10; duration = 101; initialDepth = 714.734573; finalDepth = 763.938483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7448910000001 # Actual altitude: 82.7448910000001 # Commanded vehicle depth:714.734573 # Seafloor depth:-797.479464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.37; MB_Bottom_Detect_Filter_Max_Range = 198.59; MB_Bottom_Detect_Filter_Min_Depth = 41.37; MB_Bottom_Detect_Filter_Max_Depth = 198.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.321775 meters # Minimum depth: 738.934460 meters looking forward 100.000000 meters along route # Maximum depth: 752.042124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.934460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312644; longitude = -126.073795; captureRadius = 10; duration = 101; initialDepth = 698.934460; finalDepth = 714.734573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.7448910000001 # Actual altitude: 82.7448910000001 # Commanded vehicle depth:698.93446 # Seafloor depth:-752.042124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.37; MB_Bottom_Detect_Filter_Max_Range = 198.59; MB_Bottom_Detect_Filter_Min_Depth = 41.37; MB_Bottom_Detect_Filter_Max_Depth = 198.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.975718 meters # Minimum depth: 730.537605 meters looking forward 100.000000 meters along route # Maximum depth: 738.605987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.537605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313452; longitude = -126.074424; captureRadius = 10; duration = 101; initialDepth = 690.537605; finalDepth = 698.934460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.107664 # Actual altitude: 53.107664 # Commanded vehicle depth:690.537605 # Seafloor depth:-738.605987 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 127.46; MB_Bottom_Detect_Filter_Min_Depth = 26.55; MB_Bottom_Detect_Filter_Max_Depth = 127.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 63.912369 meters # Minimum depth: 730.520386 meters looking forward 100.000000 meters along route # Maximum depth: 734.901964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.520386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314266; longitude = -126.075057; captureRadius = 10; duration = 63; initialDepth = 690.520386; finalDepth = 690.537605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.068382 # Actual altitude: 50 # Commanded vehicle depth:690.520386 # Seafloor depth:-730.520386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.465146 meters # Minimum depth: 735.374685 meters looking forward 100.000000 meters along route # Maximum depth: 745.271440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.374685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313803; longitude = -126.074548; captureRadius = 10; duration = 101; initialDepth = 695.374685; finalDepth = 690.520386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:695.374685 # Seafloor depth:-735.374685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.465682 meters # Minimum depth: 747.612799 meters looking forward 100.000000 meters along route # Maximum depth: 783.145985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.612799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313067; longitude = -126.073739; captureRadius = 10; duration = 101; initialDepth = 707.612799; finalDepth = 695.374685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:707.612799 # Seafloor depth:-747.612799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.466217 meters # Minimum depth: 786.715472 meters looking forward 100.000000 meters along route # Maximum depth: 834.213672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.715472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312331; longitude = -126.072930; captureRadius = 10; duration = 101; initialDepth = 746.715472; finalDepth = 707.612799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:746.715472 # Seafloor depth:-786.715472 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.466753 meters # Minimum depth: 840.150577 meters looking forward 100.000000 meters along route # Maximum depth: 874.626912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.150577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311595; longitude = -126.072122; captureRadius = 10; duration = 101; initialDepth = 800.150577; finalDepth = 746.715472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:800.150577 # Seafloor depth:-840.150577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.467288 meters # Minimum depth: 876.147670 meters looking forward 100.000000 meters along route # Maximum depth: 902.231927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.147670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310859; longitude = -126.071313; captureRadius = 10; duration = 101; initialDepth = 836.147670; finalDepth = 800.150577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:836.14767 # Seafloor depth:-876.147670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.467825 meters # Minimum depth: 893.915481 meters looking forward 100.000000 meters along route # Maximum depth: 905.272480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.915481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310124; longitude = -126.070504; captureRadius = 10; duration = 101; initialDepth = 853.915481; finalDepth = 836.147670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.453183 # Actual altitude: 50.453183 # Commanded vehicle depth:853.915481 # Seafloor depth:-904.368664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 121.09; MB_Bottom_Detect_Filter_Min_Depth = 25.23; MB_Bottom_Detect_Filter_Max_Depth = 121.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.468359 meters # Minimum depth: 893.130549 meters looking forward 100.000000 meters along route # Maximum depth: 900.839332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.130549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309388; longitude = -126.069696; captureRadius = 10; duration = 101; initialDepth = 853.130549; finalDepth = 853.915481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.453183 # Actual altitude: 50.453183 # Commanded vehicle depth:853.130549 # Seafloor depth:-893.827761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 121.09; MB_Bottom_Detect_Filter_Min_Depth = 25.23; MB_Bottom_Detect_Filter_Max_Depth = 121.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.468895 meters # Minimum depth: 902.439148 meters looking forward 100.000000 meters along route # Maximum depth: 921.538056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.439148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308652; longitude = -126.068887; captureRadius = 10; duration = 101; initialDepth = 862.439148; finalDepth = 853.130549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.697212 # Actual altitude: 50 # Commanded vehicle depth:862.439148 # Seafloor depth:-902.439148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.469431 meters # Minimum depth: 921.898346 meters looking forward 100.000000 meters along route # Maximum depth: 949.166002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.898346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307916; longitude = -126.068079; captureRadius = 10; duration = 101; initialDepth = 881.898346; finalDepth = 862.439148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:881.898346 # Seafloor depth:-921.898346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.546967 meters # Minimum depth: 952.773361 meters looking forward 100.000000 meters along route # Maximum depth: 985.734763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.773361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307180; longitude = -126.067270; captureRadius = 10; duration = 101; initialDepth = 912.773361; finalDepth = 881.898346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:912.773361 # Seafloor depth:-952.773361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.393502 meters # Minimum depth: 985.758075 meters looking forward 100.000000 meters along route # Maximum depth: 1009.195533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.758075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306444; longitude = -126.066461; captureRadius = 10; duration = 101; initialDepth = 945.758075; finalDepth = 912.773361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:945.758075 # Seafloor depth:-985.758075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.471038 meters # Minimum depth: 1010.063598 meters looking forward 100.000000 meters along route # Maximum depth: 1013.194005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.063598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305709; longitude = -126.065653; captureRadius = 10; duration = 101; initialDepth = 970.063598; finalDepth = 945.758075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:970.063598 # Seafloor depth:-1010.063598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.471574 meters # Minimum depth: 1013.649632 meters looking forward 100.000000 meters along route # Maximum depth: 1014.464427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.649632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304973; longitude = -126.064844; captureRadius = 10; duration = 101; initialDepth = 973.649632; finalDepth = 970.063598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:973.649632 # Seafloor depth:-1013.649632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.472109 meters # Minimum depth: 1014.430535 meters looking forward 100.000000 meters along route # Maximum depth: 1015.465453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.430535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304237; longitude = -126.064035; captureRadius = 10; duration = 101; initialDepth = 974.430535; finalDepth = 973.649632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:974.430535 # Seafloor depth:-1014.430535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.472645 meters # Minimum depth: 1014.354972 meters looking forward 100.000000 meters along route # Maximum depth: 1014.991793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.354972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303501; longitude = -126.063227; captureRadius = 10; duration = 101; initialDepth = 974.354972; finalDepth = 974.430535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6368210000001 # Actual altitude: 50 # Commanded vehicle depth:974.354972 # Seafloor depth:-1014.991793 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.306753 meters # Minimum depth: 1007.416298 meters looking forward 100.000000 meters along route # Maximum depth: 1014.782324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.416298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302766; longitude = -126.062418; captureRadius = 10; duration = 105; initialDepth = 967.416298; finalDepth = 974.354972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2958130000001 # Actual altitude: 50 # Commanded vehicle depth:967.416298 # Seafloor depth:-1014.712111 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 49.646110 meters # Minimum depth: 1007.416298 meters looking forward 100.000000 meters along route # Maximum depth: 1015.248371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.416298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302002; longitude = -126.061579; captureRadius = 10; duration = 49; initialDepth = 967.416298; finalDepth = 967.416298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2958130000001 # Actual altitude: 50 # Commanded vehicle depth:967.416298 # Seafloor depth:-1008.971024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.371792 meters # Minimum depth: 1015.359057 meters looking forward 100.000000 meters along route # Maximum depth: 1017.158174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.359057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302266; longitude = -126.061040; captureRadius = 10; duration = 100; initialDepth = 975.359057; finalDepth = 967.416298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.5547260000001 # Actual altitude: 50 # Commanded vehicle depth:975.359057 # Seafloor depth:-1015.359057 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 56.473679 meters # Minimum depth: 1016.710622 meters looking forward 100.000000 meters along route # Maximum depth: 1017.849990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.710622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.302800; longitude = -126.059949; captureRadius = 10; duration = 56; initialDepth = 976.710622; finalDepth = 975.359057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.109584 # Actual altitude: 50 # Commanded vehicle depth:976.710622 # Seafloor depth:-1016.820206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.158811 meters # Minimum depth: 1016.724358 meters looking forward 100.000000 meters along route # Maximum depth: 1017.504361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.724358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303209; longitude = -126.060399; captureRadius = 10; duration = 101; initialDepth = 976.724358; finalDepth = 976.710622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.109584 # Actual altitude: 50 # Commanded vehicle depth:976.724358 # Seafloor depth:-1016.802278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.466507 meters # Minimum depth: 1016.693869 meters looking forward 100.000000 meters along route # Maximum depth: 1017.634898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.693869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303943; longitude = -126.061205; captureRadius = 10; duration = 101; initialDepth = 976.693869; finalDepth = 976.724358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.926379 # Actual altitude: 50 # Commanded vehicle depth:976.693869 # Seafloor depth:-1017.620248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.465972 meters # Minimum depth: 1015.902430 meters looking forward 100.000000 meters along route # Maximum depth: 1016.826294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.902430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304679; longitude = -126.062014; captureRadius = 10; duration = 101; initialDepth = 975.902430; finalDepth = 976.693869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.926379 # Actual altitude: 50 # Commanded vehicle depth:975.90243 # Seafloor depth:-1016.826294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.465437 meters # Minimum depth: 1012.804695 meters looking forward 100.000000 meters along route # Maximum depth: 1015.855957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.804695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305414; longitude = -126.062822; captureRadius = 10; duration = 101; initialDepth = 972.804695; finalDepth = 975.902430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0307829999999 # Actual altitude: 50 # Commanded vehicle depth:972.804695 # Seafloor depth:-1015.835478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.464900 meters # Minimum depth: 994.920124 meters looking forward 100.000000 meters along route # Maximum depth: 1012.401750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.920124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306150; longitude = -126.063631; captureRadius = 10; duration = 101; initialDepth = 954.920124; finalDepth = 972.804695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.481626 # Actual altitude: 57.481626 # Commanded vehicle depth:954.920124 # Seafloor depth:-1012.401750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 137.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.74; MB_Bottom_Detect_Filter_Max_Range = 137.96; MB_Bottom_Detect_Filter_Min_Depth = 28.74; MB_Bottom_Detect_Filter_Max_Depth = 137.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.464365 meters # Minimum depth: 969.756347 meters looking forward 100.000000 meters along route # Maximum depth: 992.812132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.756347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306886; longitude = -126.064440; captureRadius = 10; duration = 101; initialDepth = 929.756347; finalDepth = 954.920124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.055785 # Actual altitude: 63.055785 # Commanded vehicle depth:929.756347 # Seafloor depth:-992.812132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 151.33; MB_Bottom_Detect_Filter_Min_Depth = 31.53; MB_Bottom_Detect_Filter_Max_Depth = 151.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.463829 meters # Minimum depth: 923.741617 meters looking forward 100.000000 meters along route # Maximum depth: 965.396981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.741617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307622; longitude = -126.065248; captureRadius = 10; duration = 101; initialDepth = 883.741617; finalDepth = 929.756347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.655364 # Actual altitude: 81.655364 # Commanded vehicle depth:883.741617 # Seafloor depth:-965.396981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.83; MB_Bottom_Detect_Filter_Max_Range = 195.97; MB_Bottom_Detect_Filter_Min_Depth = 40.83; MB_Bottom_Detect_Filter_Max_Depth = 195.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.463294 meters # Minimum depth: 876.095750 meters looking forward 100.000000 meters along route # Maximum depth: 921.627136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.095750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308357; longitude = -126.066057; captureRadius = 10; duration = 101; initialDepth = 836.095750; finalDepth = 883.741617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.531386 # Actual altitude: 85.531386 # Commanded vehicle depth:836.09575 # Seafloor depth:-921.627136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.462758 meters # Minimum depth: 874.688457 meters looking forward 100.000000 meters along route # Maximum depth: 879.995658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.688457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309093; longitude = -126.066866; captureRadius = 10; duration = 101; initialDepth = 834.688457; finalDepth = 836.095750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.531386 # Actual altitude: 85.531386 # Commanded vehicle depth:834.688457 # Seafloor depth:-874.764922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.77; MB_Bottom_Detect_Filter_Max_Range = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 42.77; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.462222 meters # Minimum depth: 869.841066 meters looking forward 100.000000 meters along route # Maximum depth: 879.483053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.841066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309829; longitude = -126.067674; captureRadius = 10; duration = 101; initialDepth = 829.841066; finalDepth = 834.688457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6419870000001 # Actual altitude: 50 # Commanded vehicle depth:829.841066 # Seafloor depth:-879.483053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.461687 meters # Minimum depth: 829.101912 meters looking forward 100.000000 meters along route # Maximum depth: 867.944107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.101912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310565; longitude = -126.068483; captureRadius = 10; duration = 101; initialDepth = 789.101912; finalDepth = 829.841066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8421950000001 # Actual altitude: 78.8421950000001 # Commanded vehicle depth:789.101912 # Seafloor depth:-867.944107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 189.22; MB_Bottom_Detect_Filter_Min_Depth = 39.42; MB_Bottom_Detect_Filter_Max_Depth = 189.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.461151 meters # Minimum depth: 811.547208 meters looking forward 100.000000 meters along route # Maximum depth: 828.826315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 771.547208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311300; longitude = -126.069292; captureRadius = 10; duration = 101; initialDepth = 771.547208; finalDepth = 789.101912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8421950000001 # Actual altitude: 78.8421950000001 # Commanded vehicle depth:771.547208 # Seafloor depth:-828.826315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 189.22; MB_Bottom_Detect_Filter_Min_Depth = 39.42; MB_Bottom_Detect_Filter_Max_Depth = 189.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 102.353501 meters # Minimum depth: 782.357957 meters looking forward 100.000000 meters along route # Maximum depth: 809.741296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.357957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312036; longitude = -126.070100; captureRadius = 10; duration = 102; initialDepth = 742.357957; finalDepth = 771.547208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.383339 # Actual altitude: 67.383339 # Commanded vehicle depth:742.357957 # Seafloor depth:-809.741296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.69; MB_Bottom_Detect_Filter_Max_Range = 161.72; MB_Bottom_Detect_Filter_Min_Depth = 33.69; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.567195 meters # Minimum depth: 761.731419 meters looking forward 100.000000 meters along route # Maximum depth: 782.084566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.731419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312778; longitude = -126.070916; captureRadius = 10; duration = 100; initialDepth = 721.731419; finalDepth = 742.357957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.383339 # Actual altitude: 67.383339 # Commanded vehicle depth:721.731419 # Seafloor depth:-782.084566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.69; MB_Bottom_Detect_Filter_Max_Range = 161.72; MB_Bottom_Detect_Filter_Min_Depth = 33.69; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.872007 meters # Minimum depth: 751.887044 meters looking forward 100.000000 meters along route # Maximum depth: 760.667364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.887044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313508; longitude = -126.071717; captureRadius = 10; duration = 103; initialDepth = 711.887044; finalDepth = 721.731419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.353147 # Actual altitude: 60.353147 # Commanded vehicle depth:711.887044 # Seafloor depth:-760.667364 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 144.85; MB_Bottom_Detect_Filter_Min_Depth = 30.18; MB_Bottom_Detect_Filter_Max_Depth = 144.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 110.627548 meters # Minimum depth: 744.501143 meters looking forward 100.000000 meters along route # Maximum depth: 751.843051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.501143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314261; longitude = -126.072545; captureRadius = 10; duration = 110; initialDepth = 704.501143; finalDepth = 711.887044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7803200000001 # Actual altitude: 50 # Commanded vehicle depth:704.501143 # Seafloor depth:-751.843051 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 45.688946 meters # Minimum depth: 743.816238 meters looking forward 100.000000 meters along route # Maximum depth: 747.923054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.816238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315063; longitude = -126.073427; captureRadius = 10; duration = 45; initialDepth = 703.816238; finalDepth = 704.501143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.341908 # Actual altitude: 50 # Commanded vehicle depth:703.816238 # Seafloor depth:-743.900314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.363258 meters # Minimum depth: 749.104721 meters looking forward 100.000000 meters along route # Maximum depth: 768.100086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.104721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315306; longitude = -126.072930; captureRadius = 10; duration = 104; initialDepth = 709.104721; finalDepth = 703.816238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.084076 # Actual altitude: 50 # Commanded vehicle depth:709.104721 # Seafloor depth:-749.104721 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 60.589659 meters # Minimum depth: 764.778072 meters looking forward 100.000000 meters along route # Maximum depth: 769.790072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.778072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315861; longitude = -126.071796; captureRadius = 10; duration = 60; initialDepth = 724.778072; finalDepth = 709.104721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.400212 # Actual altitude: 50 # Commanded vehicle depth:724.778072 # Seafloor depth:-768.178284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.464169 meters # Minimum depth: 770.345659 meters looking forward 100.000000 meters along route # Maximum depth: 780.103571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 730.345659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315422; longitude = -126.071313; captureRadius = 10; duration = 101; initialDepth = 730.345659; finalDepth = 724.778072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.400212 # Actual altitude: 50 # Commanded vehicle depth:730.345659 # Seafloor depth:-770.345659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.464704 meters # Minimum depth: 781.819312 meters looking forward 100.000000 meters along route # Maximum depth: 792.849217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 741.819312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314686; longitude = -126.070504; captureRadius = 10; duration = 101; initialDepth = 741.819312; finalDepth = 730.345659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:741.819312 # Seafloor depth:-781.819312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.465240 meters # Minimum depth: 793.581611 meters looking forward 100.000000 meters along route # Maximum depth: 804.170511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.581611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313950; longitude = -126.069696; captureRadius = 10; duration = 101; initialDepth = 753.581611; finalDepth = 741.819312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:753.581611 # Seafloor depth:-793.581611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.465775 meters # Minimum depth: 804.444299 meters looking forward 100.000000 meters along route # Maximum depth: 821.043807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 764.444299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313214; longitude = -126.068887; captureRadius = 10; duration = 101; initialDepth = 764.444299; finalDepth = 753.581611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:764.444299 # Seafloor depth:-804.444299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.466312 meters # Minimum depth: 822.570009 meters looking forward 100.000000 meters along route # Maximum depth: 856.461714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.570009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312478; longitude = -126.068079; captureRadius = 10; duration = 101; initialDepth = 782.570009; finalDepth = 764.444299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:782.570009 # Seafloor depth:-822.570009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.466847 meters # Minimum depth: 861.183476 meters looking forward 100.000000 meters along route # Maximum depth: 872.591357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.183476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311743; longitude = -126.067270; captureRadius = 10; duration = 101; initialDepth = 821.183476; finalDepth = 782.570009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:821.183476 # Seafloor depth:-861.183476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.467382 meters # Minimum depth: 867.181768 meters looking forward 100.000000 meters along route # Maximum depth: 873.489800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.181768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311007; longitude = -126.066461; captureRadius = 10; duration = 101; initialDepth = 827.181768; finalDepth = 821.183476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5771679999999 # Actual altitude: 50 # Commanded vehicle depth:827.181768 # Seafloor depth:-872.758936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.467918 meters # Minimum depth: 853.459018 meters looking forward 100.000000 meters along route # Maximum depth: 864.263487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.459018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310271; longitude = -126.065653; captureRadius = 10; duration = 101; initialDepth = 813.459018; finalDepth = 827.181768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.804469 # Actual altitude: 50.804469 # Commanded vehicle depth:813.459018 # Seafloor depth:-864.263487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.93; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.468454 meters # Minimum depth: 858.679508 meters looking forward 100.000000 meters along route # Maximum depth: 902.627637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.679508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309535; longitude = -126.064844; captureRadius = 10; duration = 101; initialDepth = 818.679508; finalDepth = 813.459018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.804469 # Actual altitude: 50.804469 # Commanded vehicle depth:818.679508 # Seafloor depth:-858.679508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 121.93; MB_Bottom_Detect_Filter_Min_Depth = 25.40; MB_Bottom_Detect_Filter_Max_Depth = 121.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.798247 meters # Minimum depth: 907.339190 meters looking forward 100.000000 meters along route # Maximum depth: 942.471715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.339190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308799; longitude = -126.064035; captureRadius = 10; duration = 101; initialDepth = 867.339190; finalDepth = 818.679508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:867.33919 # Seafloor depth:-907.339190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.140268 meters # Minimum depth: 942.586960 meters looking forward 100.000000 meters along route # Maximum depth: 973.206575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.586960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308061; longitude = -126.063224; captureRadius = 10; duration = 101; initialDepth = 902.586960; finalDepth = 867.339190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:902.58696 # Seafloor depth:-942.586960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.470061 meters # Minimum depth: 976.482659 meters looking forward 100.000000 meters along route # Maximum depth: 1010.768018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.482659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307328; longitude = -126.062418; captureRadius = 10; duration = 101; initialDepth = 936.482659; finalDepth = 902.586960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:936.482659 # Seafloor depth:-976.482659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.470597 meters # Minimum depth: 1012.787009 meters looking forward 100.000000 meters along route # Maximum depth: 1015.353723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.787009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306592; longitude = -126.061610; captureRadius = 10; duration = 101; initialDepth = 972.787009; finalDepth = 936.482659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:972.787009 # Seafloor depth:-1012.787009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.471132 meters # Minimum depth: 1015.434204 meters looking forward 100.000000 meters along route # Maximum depth: 1017.632901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.434204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305856; longitude = -126.060801; captureRadius = 10; duration = 101; initialDepth = 975.434204; finalDepth = 972.787009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:975.434204 # Seafloor depth:-1015.434204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.471668 meters # Minimum depth: 1015.734259 meters looking forward 100.000000 meters along route # Maximum depth: 1018.596073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.734259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305120; longitude = -126.059992; captureRadius = 10; duration = 101; initialDepth = 975.734259; finalDepth = 975.434204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8247270000001 # Actual altitude: 50 # Commanded vehicle depth:975.734259 # Seafloor depth:-1018.558986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 108.628126 meters # Minimum depth: 1014.930972 meters looking forward 100.000000 meters along route # Maximum depth: 1015.681523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.930972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304385; longitude = -126.059184; captureRadius = 10; duration = 108; initialDepth = 974.930972; finalDepth = 975.734259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8247270000001 # Actual altitude: 50 # Commanded vehicle depth:974.930972 # Seafloor depth:-1015.563293 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 44.366140 meters # Minimum depth: 1014.515305 meters looking forward 100.000000 meters along route # Maximum depth: 1015.681523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.515305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303597; longitude = -126.058318; captureRadius = 10; duration = 44; initialDepth = 974.515305; finalDepth = 974.930972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.632321 # Actual altitude: 50 # Commanded vehicle depth:974.515305 # Seafloor depth:-1014.515305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.648929 meters # Minimum depth: 1014.291405 meters looking forward 100.000000 meters along route # Maximum depth: 1015.359838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.291405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.303833; longitude = -126.057836; captureRadius = 10; duration = 105; initialDepth = 974.291405; finalDepth = 974.515305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0456899999999 # Actual altitude: 50 # Commanded vehicle depth:974.291405 # Seafloor depth:-1015.337095 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 59.541785 meters # Minimum depth: 1013.706761 meters looking forward 100.000000 meters along route # Maximum depth: 1015.023588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.706761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304395; longitude = -126.056688; captureRadius = 10; duration = 59; initialDepth = 973.706761; finalDepth = 974.291405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.0456899999999 # Actual altitude: 50 # Commanded vehicle depth:973.706761 # Seafloor depth:-1014.215759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.419149 meters # Minimum depth: 1013.706196 meters looking forward 100.000000 meters along route # Maximum depth: 1015.174144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.706196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.304827; longitude = -126.057162; captureRadius = 10; duration = 101; initialDepth = 973.706196; finalDepth = 973.706761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.508998 # Actual altitude: 50 # Commanded vehicle depth:973.706196 # Seafloor depth:-1013.706196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.470427 meters # Minimum depth: 1015.505602 meters looking forward 100.000000 meters along route # Maximum depth: 1016.333291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.505602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305562; longitude = -126.057971; captureRadius = 10; duration = 101; initialDepth = 975.505602; finalDepth = 973.706196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:975.505602 # Seafloor depth:-1015.505602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.469892 meters # Minimum depth: 1008.807743 meters looking forward 100.000000 meters along route # Maximum depth: 1015.255365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.807743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306298; longitude = -126.058779; captureRadius = 10; duration = 101; initialDepth = 968.807743; finalDepth = 975.505602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.447622 # Actual altitude: 50 # Commanded vehicle depth:968.807743 # Seafloor depth:-1015.255365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.469355 meters # Minimum depth: 978.003218 meters looking forward 100.000000 meters along route # Maximum depth: 1007.639189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.003218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307034; longitude = -126.059588; captureRadius = 10; duration = 101; initialDepth = 938.003218; finalDepth = 968.807743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.635971 # Actual altitude: 69.635971 # Commanded vehicle depth:938.003218 # Seafloor depth:-1007.639189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 167.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.82; MB_Bottom_Detect_Filter_Max_Range = 167.13; MB_Bottom_Detect_Filter_Min_Depth = 34.82; MB_Bottom_Detect_Filter_Max_Depth = 167.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.468820 meters # Minimum depth: 925.158832 meters looking forward 100.000000 meters along route # Maximum depth: 971.000748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.158832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307770; longitude = -126.060397; captureRadius = 10; duration = 101; initialDepth = 885.158832; finalDepth = 938.003218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.8419160000001 # Actual altitude: 85.8419160000001 # Commanded vehicle depth:885.158832 # Seafloor depth:-971.000748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.92; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 42.92; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.468284 meters # Minimum depth: 875.122683 meters looking forward 100.000000 meters along route # Maximum depth: 922.613057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.122683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308505; longitude = -126.061205; captureRadius = 10; duration = 101; initialDepth = 835.122683; finalDepth = 885.158832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.490374 # Actual altitude: 87.490374 # Commanded vehicle depth:835.122683 # Seafloor depth:-922.613057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.75; MB_Bottom_Detect_Filter_Max_Range = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 43.75; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.467749 meters # Minimum depth: 824.359034 meters looking forward 100.000000 meters along route # Maximum depth: 868.839911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.359034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309241; longitude = -126.062014; captureRadius = 10; duration = 101; initialDepth = 784.359034; finalDepth = 835.122683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.490374 # Actual altitude: 87.490374 # Commanded vehicle depth:784.359034 # Seafloor depth:-868.839911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.75; MB_Bottom_Detect_Filter_Max_Range = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 43.75; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.467213 meters # Minimum depth: 814.194312 meters looking forward 100.000000 meters along route # Maximum depth: 823.426919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 774.194312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309977; longitude = -126.062822; captureRadius = 10; duration = 101; initialDepth = 774.194312; finalDepth = 784.359034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.4808770000001 # Actual altitude: 84.4808770000001 # Commanded vehicle depth:774.194312 # Seafloor depth:-823.426919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.24; MB_Bottom_Detect_Filter_Max_Range = 202.75; MB_Bottom_Detect_Filter_Min_Depth = 42.24; MB_Bottom_Detect_Filter_Max_Depth = 202.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.466677 meters # Minimum depth: 824.914612 meters looking forward 100.000000 meters along route # Maximum depth: 843.576709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.914612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310713; longitude = -126.063631; captureRadius = 10; duration = 101; initialDepth = 784.914612; finalDepth = 774.194312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.232607 # Actual altitude: 50 # Commanded vehicle depth:784.914612 # Seafloor depth:-824.914612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.466141 meters # Minimum depth: 844.215362 meters looking forward 100.000000 meters along route # Maximum depth: 859.838523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.215362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311448; longitude = -126.064440; captureRadius = 10; duration = 101; initialDepth = 804.215362; finalDepth = 784.914612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:804.215362 # Seafloor depth:-844.215362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.465606 meters # Minimum depth: 834.173570 meters looking forward 100.000000 meters along route # Maximum depth: 860.059756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.173570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312184; longitude = -126.065248; captureRadius = 10; duration = 101; initialDepth = 794.173570; finalDepth = 804.215362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.51041 # Actual altitude: 65.51041 # Commanded vehicle depth:794.17357 # Seafloor depth:-859.683980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 157.22; MB_Bottom_Detect_Filter_Min_Depth = 32.76; MB_Bottom_Detect_Filter_Max_Depth = 157.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.465070 meters # Minimum depth: 813.772914 meters looking forward 100.000000 meters along route # Maximum depth: 833.937566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 773.772914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312920; longitude = -126.066057; captureRadius = 10; duration = 101; initialDepth = 773.772914; finalDepth = 794.173570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.51041 # Actual altitude: 65.51041 # Commanded vehicle depth:773.772914 # Seafloor depth:-833.937566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 157.22; MB_Bottom_Detect_Filter_Min_Depth = 32.76; MB_Bottom_Detect_Filter_Max_Depth = 157.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.003132 meters # Minimum depth: 797.642622 meters looking forward 100.000000 meters along route # Maximum depth: 812.520924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 757.642622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313656; longitude = -126.066866; captureRadius = 10; duration = 102; initialDepth = 757.642622; finalDepth = 773.772914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1646519999999 # Actual altitude: 60.1646519999999 # Commanded vehicle depth:757.642622 # Seafloor depth:-812.520924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 144.40; MB_Bottom_Detect_Filter_Min_Depth = 30.08; MB_Bottom_Detect_Filter_Max_Depth = 144.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.925401 meters # Minimum depth: 785.651207 meters looking forward 100.000000 meters along route # Maximum depth: 797.602006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 745.651207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314396; longitude = -126.067679; captureRadius = 10; duration = 100; initialDepth = 745.651207; finalDepth = 757.642622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8783020000001 # Actual altitude: 54.8783020000001 # Commanded vehicle depth:745.651207 # Seafloor depth:-797.602006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 131.71; MB_Bottom_Detect_Filter_Min_Depth = 27.44; MB_Bottom_Detect_Filter_Max_Depth = 131.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 103.506531 meters # Minimum depth: 771.492918 meters looking forward 100.000000 meters along route # Maximum depth: 784.592911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 731.492918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315127; longitude = -126.068483; captureRadius = 10; duration = 103; initialDepth = 731.492918; finalDepth = 745.651207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0999929999999 # Actual altitude: 53.0999929999999 # Commanded vehicle depth:731.492918 # Seafloor depth:-784.592911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 127.44; MB_Bottom_Detect_Filter_Min_Depth = 26.55; MB_Bottom_Detect_Filter_Max_Depth = 127.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 107.553771 meters # Minimum depth: 763.678485 meters looking forward 100.000000 meters along route # Maximum depth: 771.217751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.678485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315878; longitude = -126.069308; captureRadius = 10; duration = 107; initialDepth = 723.678485; finalDepth = 731.492918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0999929999999 # Actual altitude: 53.0999929999999 # Commanded vehicle depth:723.678485 # Seafloor depth:-771.217751 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 127.44; MB_Bottom_Detect_Filter_Min_Depth = 26.55; MB_Bottom_Detect_Filter_Max_Depth = 127.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 43.169595 meters # Minimum depth: 761.981569 meters looking forward 100.000000 meters along route # Maximum depth: 765.531719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.981569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316658; longitude = -126.070165; captureRadius = 10; duration = 43; initialDepth = 721.981569; finalDepth = 723.678485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.539266 # Actual altitude: 50 # Commanded vehicle depth:721.981569 # Seafloor depth:-763.545502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.819965 meters # Minimum depth: 750.659146 meters looking forward 100.000000 meters along route # Maximum depth: 761.578609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.659146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316888; longitude = -126.069696; captureRadius = 10; duration = 106; initialDepth = 710.659146; finalDepth = 721.981569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9194630000001 # Actual altitude: 50.9194630000001 # Commanded vehicle depth:710.659146 # Seafloor depth:-761.578609 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 122.21; MB_Bottom_Detect_Filter_Min_Depth = 25.46; MB_Bottom_Detect_Filter_Max_Depth = 122.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 57.267011 meters # Minimum depth: 750.043912 meters looking forward 100.000000 meters along route # Maximum depth: 753.843201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.043912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317456; longitude = -126.068535; captureRadius = 10; duration = 57; initialDepth = 710.043912; finalDepth = 710.659146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9194630000001 # Actual altitude: 50.9194630000001 # Commanded vehicle depth:710.043912 # Seafloor depth:-750.162247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 122.21; MB_Bottom_Detect_Filter_Min_Depth = 25.46; MB_Bottom_Detect_Filter_Max_Depth = 122.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.463191 meters # Minimum depth: 752.570741 meters looking forward 100.000000 meters along route # Maximum depth: 758.079345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.570741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317041; longitude = -126.068079; captureRadius = 10; duration = 101; initialDepth = 712.570741; finalDepth = 710.043912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.118335 # Actual altitude: 50 # Commanded vehicle depth:712.570741 # Seafloor depth:-752.570741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.463727 meters # Minimum depth: 759.872124 meters looking forward 100.000000 meters along route # Maximum depth: 774.832431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.872124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316305; longitude = -126.067270; captureRadius = 10; duration = 101; initialDepth = 719.872124; finalDepth = 712.570741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:719.872124 # Seafloor depth:-759.872124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.464263 meters # Minimum depth: 775.785588 meters looking forward 100.000000 meters along route # Maximum depth: 785.811917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.785588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315569; longitude = -126.066461; captureRadius = 10; duration = 101; initialDepth = 735.785588; finalDepth = 719.872124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.785588 # Seafloor depth:-775.785588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.464799 meters # Minimum depth: 786.972477 meters looking forward 100.000000 meters along route # Maximum depth: 792.880771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 746.972477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314833; longitude = -126.065653; captureRadius = 10; duration = 101; initialDepth = 746.972477; finalDepth = 735.785588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:746.972477 # Seafloor depth:-786.972477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.465334 meters # Minimum depth: 793.545994 meters looking forward 100.000000 meters along route # Maximum depth: 821.429437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 753.545994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314098; longitude = -126.064844; captureRadius = 10; duration = 101; initialDepth = 753.545994; finalDepth = 746.972477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:753.545994 # Seafloor depth:-793.545994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.465870 meters # Minimum depth: 826.186619 meters looking forward 100.000000 meters along route # Maximum depth: 842.614062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.186619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313362; longitude = -126.064035; captureRadius = 10; duration = 101; initialDepth = 786.186619; finalDepth = 753.545994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:786.186619 # Seafloor depth:-826.186619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.466405 meters # Minimum depth: 842.785081 meters looking forward 100.000000 meters along route # Maximum depth: 846.171712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.785081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312626; longitude = -126.063227; captureRadius = 10; duration = 101; initialDepth = 802.785081; finalDepth = 786.186619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:802.785081 # Seafloor depth:-842.785081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.466941 meters # Minimum depth: 830.839418 meters looking forward 100.000000 meters along route # Maximum depth: 843.332228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.839418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311890; longitude = -126.062418; captureRadius = 10; duration = 101; initialDepth = 790.839418; finalDepth = 802.785081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.49281 # Actual altitude: 52.49281 # Commanded vehicle depth:790.839418 # Seafloor depth:-843.332228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 125.98; MB_Bottom_Detect_Filter_Min_Depth = 26.25; MB_Bottom_Detect_Filter_Max_Depth = 125.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.467477 meters # Minimum depth: 818.930130 meters looking forward 100.000000 meters along route # Maximum depth: 830.732666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 778.930130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311154; longitude = -126.061610; captureRadius = 10; duration = 101; initialDepth = 778.930130; finalDepth = 790.839418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.49281 # Actual altitude: 52.49281 # Commanded vehicle depth:778.93013 # Seafloor depth:-830.732666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 125.98; MB_Bottom_Detect_Filter_Min_Depth = 26.25; MB_Bottom_Detect_Filter_Max_Depth = 125.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.049523 meters # Minimum depth: 824.289850 meters looking forward 100.000000 meters along route # Maximum depth: 873.138550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.289850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310419; longitude = -126.060801; captureRadius = 10; duration = 102; initialDepth = 784.289850; finalDepth = 778.930130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.802536 # Actual altitude: 51.802536 # Commanded vehicle depth:784.28985 # Seafloor depth:-824.289850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 124.33; MB_Bottom_Detect_Filter_Min_Depth = 25.90; MB_Bottom_Detect_Filter_Max_Depth = 124.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.887038 meters # Minimum depth: 873.431345 meters looking forward 100.000000 meters along route # Maximum depth: 914.286280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.431345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309679; longitude = -126.059988; captureRadius = 10; duration = 100; initialDepth = 833.431345; finalDepth = 784.289850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:833.431345 # Seafloor depth:-873.431345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.469084 meters # Minimum depth: 918.649983 meters looking forward 100.000000 meters along route # Maximum depth: 960.251726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.649983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308947; longitude = -126.059184; captureRadius = 10; duration = 101; initialDepth = 878.649983; finalDepth = 833.431345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:878.649983 # Seafloor depth:-918.649983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.469620 meters # Minimum depth: 965.788757 meters looking forward 100.000000 meters along route # Maximum depth: 992.879927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.788757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308211; longitude = -126.058375; captureRadius = 10; duration = 101; initialDepth = 925.788757; finalDepth = 878.649983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:925.788757 # Seafloor depth:-965.788757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.470156 meters # Minimum depth: 994.338867 meters looking forward 100.000000 meters along route # Maximum depth: 1011.479453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.338867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307475; longitude = -126.057566; captureRadius = 10; duration = 101; initialDepth = 954.338867; finalDepth = 925.788757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:954.338867 # Seafloor depth:-994.338867 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.470691 meters # Minimum depth: 1009.638565 meters looking forward 100.000000 meters along route # Maximum depth: 1010.828623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.638565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306740; longitude = -126.056758; captureRadius = 10; duration = 101; initialDepth = 969.638565; finalDepth = 954.338867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.190058 # Actual altitude: 50 # Commanded vehicle depth:969.638565 # Seafloor depth:-1010.828623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 111.949437 meters # Minimum depth: 1009.692305 meters looking forward 100.000000 meters along route # Maximum depth: 1011.563867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.692305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306004; longitude = -126.055949; captureRadius = 10; duration = 111; initialDepth = 969.692305; finalDepth = 969.638565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.190058 # Actual altitude: 50 # Commanded vehicle depth:969.692305 # Seafloor depth:-1009.692305 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 41.910273 meters # Minimum depth: 1010.641812 meters looking forward 100.000000 meters along route # Maximum depth: 1011.839197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.641812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305192; longitude = -126.055057; captureRadius = 10; duration = 41; initialDepth = 970.641812; finalDepth = 969.692305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1782870000001 # Actual altitude: 50 # Commanded vehicle depth:970.641812 # Seafloor depth:-1011.820099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.036190 meters # Minimum depth: 1009.994223 meters looking forward 100.000000 meters along route # Maximum depth: 1011.752372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.994223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305415; longitude = -126.054601; captureRadius = 10; duration = 108; initialDepth = 969.994223; finalDepth = 970.641812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.758149 # Actual altitude: 50 # Commanded vehicle depth:969.994223 # Seafloor depth:-1011.752372 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 62.815055 meters # Minimum depth: 1008.786353 meters looking forward 100.000000 meters along route # Maximum depth: 1010.353157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.786353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.305989; longitude = -126.053427; captureRadius = 10; duration = 62; initialDepth = 968.786353; finalDepth = 969.994223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.758149 # Actual altitude: 50 # Commanded vehicle depth:968.786353 # Seafloor depth:-1010.116562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.475369 meters # Minimum depth: 1006.787278 meters looking forward 100.000000 meters along route # Maximum depth: 1008.784903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.787278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306445; longitude = -126.053928; captureRadius = 10; duration = 101; initialDepth = 966.787278; finalDepth = 968.786353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.997625 # Actual altitude: 50 # Commanded vehicle depth:966.787278 # Seafloor depth:-1008.784903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 102.895168 meters # Minimum depth: 991.584593 meters looking forward 100.000000 meters along route # Maximum depth: 1006.708536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.584593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307180; longitude = -126.054736; captureRadius = 10; duration = 102; initialDepth = 951.584593; finalDepth = 966.787278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0031269999999 # Actual altitude: 55.0031269999999 # Commanded vehicle depth:951.584593 # Seafloor depth:-1006.587720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.50; MB_Bottom_Detect_Filter_Max_Range = 132.01; MB_Bottom_Detect_Filter_Min_Depth = 27.50; MB_Bottom_Detect_Filter_Max_Depth = 132.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.053962 meters # Minimum depth: 965.038726 meters looking forward 100.000000 meters along route # Maximum depth: 991.156018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.038726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307927; longitude = -126.055556; captureRadius = 10; duration = 100; initialDepth = 925.038726; finalDepth = 951.584593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.117292 # Actual altitude: 66.117292 # Commanded vehicle depth:925.038726 # Seafloor depth:-991.156018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 158.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 158.68; MB_Bottom_Detect_Filter_Min_Depth = 33.06; MB_Bottom_Detect_Filter_Max_Depth = 158.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.473761 meters # Minimum depth: 924.479624 meters looking forward 100.000000 meters along route # Maximum depth: 961.696676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.479624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308652; longitude = -126.056353; captureRadius = 10; duration = 101; initialDepth = 884.479624; finalDepth = 925.038726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2170520000001 # Actual altitude: 77.2170520000001 # Commanded vehicle depth:884.479624 # Seafloor depth:-961.696676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.61; MB_Bottom_Detect_Filter_Max_Range = 185.32; MB_Bottom_Detect_Filter_Min_Depth = 38.61; MB_Bottom_Detect_Filter_Max_Depth = 185.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.473225 meters # Minimum depth: 882.926458 meters looking forward 100.000000 meters along route # Maximum depth: 917.827089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.926458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309388; longitude = -126.057162; captureRadius = 10; duration = 101; initialDepth = 842.926458; finalDepth = 884.479624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2170520000001 # Actual altitude: 77.2170520000001 # Commanded vehicle depth:842.926458 # Seafloor depth:-917.827089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.61; MB_Bottom_Detect_Filter_Max_Range = 185.32; MB_Bottom_Detect_Filter_Min_Depth = 38.61; MB_Bottom_Detect_Filter_Max_Depth = 185.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.472690 meters # Minimum depth: 864.464422 meters looking forward 100.000000 meters along route # Maximum depth: 881.531004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.464422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310124; longitude = -126.057971; captureRadius = 10; duration = 101; initialDepth = 824.464422; finalDepth = 842.926458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.900631 # Actual altitude: 74.900631 # Commanded vehicle depth:824.464422 # Seafloor depth:-881.531004 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.45; MB_Bottom_Detect_Filter_Max_Range = 179.76; MB_Bottom_Detect_Filter_Min_Depth = 37.45; MB_Bottom_Detect_Filter_Max_Depth = 179.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.472154 meters # Minimum depth: 860.460213 meters looking forward 100.000000 meters along route # Maximum depth: 864.247851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.460213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310860; longitude = -126.058779; captureRadius = 10; duration = 101; initialDepth = 820.460213; finalDepth = 824.464422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.066582 # Actual altitude: 57.066582 # Commanded vehicle depth:820.460213 # Seafloor depth:-864.247851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.53; MB_Bottom_Detect_Filter_Max_Range = 136.96; MB_Bottom_Detect_Filter_Min_Depth = 28.53; MB_Bottom_Detect_Filter_Max_Depth = 136.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.471618 meters # Minimum depth: 858.767028 meters looking forward 100.000000 meters along route # Maximum depth: 860.745465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.767028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311595; longitude = -126.059588; captureRadius = 10; duration = 101; initialDepth = 818.767028; finalDepth = 820.460213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.787638 # Actual altitude: 50 # Commanded vehicle depth:818.767028 # Seafloor depth:-860.265251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.471082 meters # Minimum depth: 862.104640 meters looking forward 100.000000 meters along route # Maximum depth: 865.211238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 822.104640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312331; longitude = -126.060397; captureRadius = 10; duration = 101; initialDepth = 822.104640; finalDepth = 818.767028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.4982230000001 # Actual altitude: 50 # Commanded vehicle depth:822.10464 # Seafloor depth:-862.104640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.470547 meters # Minimum depth: 849.734851 meters looking forward 100.000000 meters along route # Maximum depth: 862.872049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.734851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313067; longitude = -126.061205; captureRadius = 10; duration = 101; initialDepth = 809.734851; finalDepth = 822.104640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1371979999999 # Actual altitude: 53.1371979999999 # Commanded vehicle depth:809.734851 # Seafloor depth:-862.872049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 127.53; MB_Bottom_Detect_Filter_Min_Depth = 26.57; MB_Bottom_Detect_Filter_Max_Depth = 127.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.470011 meters # Minimum depth: 809.922109 meters looking forward 100.000000 meters along route # Maximum depth: 847.463469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 769.922109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313803; longitude = -126.062014; captureRadius = 10; duration = 101; initialDepth = 769.922109; finalDepth = 809.734851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5413600000001 # Actual altitude: 77.5413600000001 # Commanded vehicle depth:769.922109 # Seafloor depth:-847.463469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 186.10; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 186.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.469475 meters # Minimum depth: 776.343436 meters looking forward 100.000000 meters along route # Maximum depth: 809.332057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 736.343436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314539; longitude = -126.062822; captureRadius = 10; duration = 101; initialDepth = 736.343436; finalDepth = 769.922109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5413600000001 # Actual altitude: 77.5413600000001 # Commanded vehicle depth:736.343436 # Seafloor depth:-809.332057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 186.10; MB_Bottom_Detect_Filter_Min_Depth = 38.77; MB_Bottom_Detect_Filter_Max_Depth = 186.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.780516 meters # Minimum depth: 764.008227 meters looking forward 100.000000 meters along route # Maximum depth: 774.408360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 724.008227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315275; longitude = -126.063631; captureRadius = 10; duration = 101; initialDepth = 724.008227; finalDepth = 736.343436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.988621 # Actual altitude: 72.988621 # Commanded vehicle depth:724.008227 # Seafloor depth:-774.408360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.49; MB_Bottom_Detect_Filter_Max_Range = 175.17; MB_Bottom_Detect_Filter_Min_Depth = 36.49; MB_Bottom_Detect_Filter_Max_Depth = 175.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.156827 meters # Minimum depth: 759.663287 meters looking forward 100.000000 meters along route # Maximum depth: 763.999032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.663287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316013; longitude = -126.064442; captureRadius = 10; duration = 101; initialDepth = 719.663287; finalDepth = 724.008227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.400133 # Actual altitude: 50.400133 # Commanded vehicle depth:719.663287 # Seafloor depth:-763.999032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 120.96; MB_Bottom_Detect_Filter_Min_Depth = 25.20; MB_Bottom_Detect_Filter_Max_Depth = 120.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 103.267314 meters # Minimum depth: 737.806588 meters looking forward 100.000000 meters along route # Maximum depth: 758.441217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.806588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316746; longitude = -126.065248; captureRadius = 10; duration = 103; initialDepth = 697.806588; finalDepth = 719.663287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.634629 # Actual altitude: 60.634629 # Commanded vehicle depth:697.806588 # Seafloor depth:-758.441217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 145.52; MB_Bottom_Detect_Filter_Min_Depth = 30.32; MB_Bottom_Detect_Filter_Max_Depth = 145.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.479943 meters # Minimum depth: 726.193804 meters looking forward 100.000000 meters along route # Maximum depth: 737.512703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 686.193804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317495; longitude = -126.066071; captureRadius = 10; duration = 104; initialDepth = 686.193804; finalDepth = 697.806588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.634629 # Actual altitude: 60.634629 # Commanded vehicle depth:686.193804 # Seafloor depth:-737.512703 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 145.52; MB_Bottom_Detect_Filter_Min_Depth = 30.32; MB_Bottom_Detect_Filter_Max_Depth = 145.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 40.723805 meters # Minimum depth: 721.564715 meters looking forward 100.000000 meters along route # Maximum depth: 730.089191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.564715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318253; longitude = -126.066904; captureRadius = 10; duration = 40; initialDepth = 681.564715; finalDepth = 686.193804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.318899 # Actual altitude: 51.318899 # Commanded vehicle depth:681.564715 # Seafloor depth:-726.440369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 123.17; MB_Bottom_Detect_Filter_Min_Depth = 25.66; MB_Bottom_Detect_Filter_Max_Depth = 123.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.322723 meters # Minimum depth: 720.474675 meters looking forward 100.000000 meters along route # Maximum depth: 725.374964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.474675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318470; longitude = -126.066461; captureRadius = 10; duration = 109; initialDepth = 680.474675; finalDepth = 681.564715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8756540000001 # Actual altitude: 50 # Commanded vehicle depth:680.474675 # Seafloor depth:-721.066995 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 53.824407 meters # Minimum depth: 723.459672 meters looking forward 100.000000 meters along route # Maximum depth: 739.586374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.459672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319051; longitude = -126.065273; captureRadius = 10; duration = 53; initialDepth = 683.459672; finalDepth = 680.474675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.139525 # Actual altitude: 50 # Commanded vehicle depth:683.459672 # Seafloor depth:-725.599197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.472493 meters # Minimum depth: 741.259406 meters looking forward 100.000000 meters along route # Maximum depth: 757.597683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.259406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318661; longitude = -126.064844; captureRadius = 10; duration = 101; initialDepth = 701.259406; finalDepth = 683.459672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.139525 # Actual altitude: 50 # Commanded vehicle depth:701.259406 # Seafloor depth:-741.259406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.473029 meters # Minimum depth: 760.002391 meters looking forward 100.000000 meters along route # Maximum depth: 775.057661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 720.002391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317925; longitude = -126.064035; captureRadius = 10; duration = 101; initialDepth = 720.002391; finalDepth = 701.259406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:720.002391 # Seafloor depth:-760.002391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.473565 meters # Minimum depth: 775.920272 meters looking forward 100.000000 meters along route # Maximum depth: 811.410118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 735.920272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317189; longitude = -126.063227; captureRadius = 10; duration = 101; initialDepth = 735.920272; finalDepth = 720.002391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:735.920272 # Seafloor depth:-775.920272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.474101 meters # Minimum depth: 816.736650 meters looking forward 100.000000 meters along route # Maximum depth: 838.350322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 776.736650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316453; longitude = -126.062418; captureRadius = 10; duration = 101; initialDepth = 776.736650; finalDepth = 735.920272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:776.73665 # Seafloor depth:-816.736650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.474636 meters # Minimum depth: 839.240146 meters looking forward 100.000000 meters along route # Maximum depth: 859.067488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.240146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315717; longitude = -126.061610; captureRadius = 10; duration = 101; initialDepth = 799.240146; finalDepth = 776.736650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:799.240146 # Seafloor depth:-839.240146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.475172 meters # Minimum depth: 862.678421 meters looking forward 100.000000 meters along route # Maximum depth: 877.515845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 822.678421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314981; longitude = -126.060801; captureRadius = 10; duration = 101; initialDepth = 822.678421; finalDepth = 799.240146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:822.678421 # Seafloor depth:-862.678421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.475708 meters # Minimum depth: 877.832613 meters looking forward 100.000000 meters along route # Maximum depth: 885.453600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.832613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314245; longitude = -126.059992; captureRadius = 10; duration = 101; initialDepth = 837.832613; finalDepth = 822.678421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:837.832613 # Seafloor depth:-877.832613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.476244 meters # Minimum depth: 882.435802 meters looking forward 100.000000 meters along route # Maximum depth: 884.389378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.435802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313509; longitude = -126.059184; captureRadius = 10; duration = 101; initialDepth = 842.435802; finalDepth = 837.832613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.953576 # Actual altitude: 50 # Commanded vehicle depth:842.435802 # Seafloor depth:-884.389378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.476779 meters # Minimum depth: 877.012975 meters looking forward 100.000000 meters along route # Maximum depth: 882.426321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.012975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312773; longitude = -126.058375; captureRadius = 10; duration = 101; initialDepth = 837.012975; finalDepth = 842.435802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.413346 # Actual altitude: 50 # Commanded vehicle depth:837.012975 # Seafloor depth:-882.426321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.270097 meters # Minimum depth: 873.538392 meters looking forward 100.000000 meters along route # Maximum depth: 876.640256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.538392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312037; longitude = -126.057566; captureRadius = 10; duration = 102; initialDepth = 833.538392; finalDepth = 837.012975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.413346 # Actual altitude: 50 # Commanded vehicle depth:833.538392 # Seafloor depth:-876.640256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.685069 meters # Minimum depth: 874.931189 meters looking forward 100.000000 meters along route # Maximum depth: 900.615038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.931189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311296; longitude = -126.056751; captureRadius = 10; duration = 100; initialDepth = 834.931189; finalDepth = 833.538392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.101864 # Actual altitude: 50 # Commanded vehicle depth:834.931189 # Seafloor depth:-874.931189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.478387 meters # Minimum depth: 904.302502 meters looking forward 100.000000 meters along route # Maximum depth: 936.130625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.302502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310566; longitude = -126.055949; captureRadius = 10; duration = 101; initialDepth = 864.302502; finalDepth = 834.931189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.302502 # Seafloor depth:-904.302502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.478923 meters # Minimum depth: 941.277407 meters looking forward 100.000000 meters along route # Maximum depth: 978.185127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.277407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309830; longitude = -126.055141; captureRadius = 10; duration = 101; initialDepth = 901.277407; finalDepth = 864.302502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:901.277407 # Seafloor depth:-941.277407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 105.215017 meters # Minimum depth: 980.677128 meters looking forward 100.000000 meters along route # Maximum depth: 1004.567594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.677128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309094; longitude = -126.054332; captureRadius = 10; duration = 105; initialDepth = 940.677128; finalDepth = 901.277407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:940.677128 # Seafloor depth:-980.677128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.508073 meters # Minimum depth: 1005.067996 meters looking forward 100.000000 meters along route # Maximum depth: 1008.241384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.067996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308331; longitude = -126.053493; captureRadius = 10; duration = 111; initialDepth = 965.067996; finalDepth = 940.677128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:965.067996 # Seafloor depth:-1005.067996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.518724 meters # Minimum depth: 1008.377651 meters looking forward 100.000000 meters along route # Maximum depth: 1010.218735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.377651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307522; longitude = -126.052605; captureRadius = 10; duration = 101; initialDepth = 968.377651; finalDepth = 965.067996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:968.377651 # Seafloor depth:-1008.377651 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 39.482792 meters # Minimum depth: 1009.141050 meters looking forward 100.000000 meters along route # Maximum depth: 1010.666026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.141050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306786; longitude = -126.051796; captureRadius = 10; duration = 39; initialDepth = 969.141050; finalDepth = 968.377651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.2733940000001 # Actual altitude: 50 # Commanded vehicle depth:969.14105 # Seafloor depth:-1010.414444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.586433 meters # Minimum depth: 1007.987241 meters looking forward 100.000000 meters along route # Maximum depth: 1009.941036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.987241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.306996; longitude = -126.051367; captureRadius = 10; duration = 110; initialDepth = 967.987241; finalDepth = 969.141050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.953795 # Actual altitude: 50 # Commanded vehicle depth:967.987241 # Seafloor depth:-1009.941036 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 66.262410 meters # Minimum depth: 1006.036806 meters looking forward 100.000000 meters along route # Maximum depth: 1008.501557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.036806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.307584; longitude = -126.050165; captureRadius = 10; duration = 66; initialDepth = 966.036806; finalDepth = 967.987241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.953795 # Actual altitude: 50 # Commanded vehicle depth:966.036806 # Seafloor depth:-1007.505981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.474391 meters # Minimum depth: 1003.893020 meters looking forward 100.000000 meters along route # Maximum depth: 1006.250724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.893020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308065; longitude = -126.050693; captureRadius = 10; duration = 101; initialDepth = 963.893020; finalDepth = 966.036806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.357704 # Actual altitude: 50 # Commanded vehicle depth:963.89302 # Seafloor depth:-1006.250724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.516193 meters # Minimum depth: 998.555789 meters looking forward 100.000000 meters along route # Maximum depth: 1003.516223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.555789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308800; longitude = -126.051502; captureRadius = 10; duration = 102; initialDepth = 958.555789; finalDepth = 963.893020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.960434 # Actual altitude: 50 # Commanded vehicle depth:958.555789 # Seafloor depth:-1003.516223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.430983 meters # Minimum depth: 991.277013 meters looking forward 100.000000 meters along route # Maximum depth: 998.516910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.277013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309544; longitude = -126.052319; captureRadius = 10; duration = 100; initialDepth = 951.277013; finalDepth = 958.555789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.239897 # Actual altitude: 50 # Commanded vehicle depth:951.277013 # Seafloor depth:-998.516910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.472784 meters # Minimum depth: 962.383235 meters looking forward 100.000000 meters along route # Maximum depth: 989.493991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.383235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310272; longitude = -126.053119; captureRadius = 10; duration = 101; initialDepth = 922.383235; finalDepth = 951.277013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.110756 # Actual altitude: 67.110756 # Commanded vehicle depth:922.383235 # Seafloor depth:-989.493991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 161.07; MB_Bottom_Detect_Filter_Min_Depth = 33.56; MB_Bottom_Detect_Filter_Max_Depth = 161.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.472248 meters # Minimum depth: 940.427974 meters looking forward 100.000000 meters along route # Maximum depth: 959.986702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.427974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311008; longitude = -126.053928; captureRadius = 10; duration = 101; initialDepth = 900.427974; finalDepth = 922.383235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.110756 # Actual altitude: 67.110756 # Commanded vehicle depth:900.427974 # Seafloor depth:-959.986702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 161.07; MB_Bottom_Detect_Filter_Min_Depth = 33.56; MB_Bottom_Detect_Filter_Max_Depth = 161.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.471712 meters # Minimum depth: 916.221283 meters looking forward 100.000000 meters along route # Maximum depth: 938.170152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.221283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311744; longitude = -126.054736; captureRadius = 10; duration = 101; initialDepth = 876.221283; finalDepth = 900.427974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9488690000001 # Actual altitude: 61.9488690000001 # Commanded vehicle depth:876.221283 # Seafloor depth:-938.170152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 148.68; MB_Bottom_Detect_Filter_Min_Depth = 30.97; MB_Bottom_Detect_Filter_Max_Depth = 148.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.471177 meters # Minimum depth: 902.858436 meters looking forward 100.000000 meters along route # Maximum depth: 914.166362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.858436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312480; longitude = -126.055545; captureRadius = 10; duration = 101; initialDepth = 862.858436; finalDepth = 876.221283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9488690000001 # Actual altitude: 61.9488690000001 # Commanded vehicle depth:862.858436 # Seafloor depth:-914.166362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 148.68; MB_Bottom_Detect_Filter_Min_Depth = 30.97; MB_Bottom_Detect_Filter_Max_Depth = 148.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.470641 meters # Minimum depth: 897.987259 meters looking forward 100.000000 meters along route # Maximum depth: 903.186916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.987259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313215; longitude = -126.056353; captureRadius = 10; duration = 101; initialDepth = 857.987259; finalDepth = 862.858436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3079260000001 # Actual altitude: 51.3079260000001 # Commanded vehicle depth:857.987259 # Seafloor depth:-902.921394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 123.14; MB_Bottom_Detect_Filter_Min_Depth = 25.65; MB_Bottom_Detect_Filter_Max_Depth = 123.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.470104 meters # Minimum depth: 895.067868 meters looking forward 100.000000 meters along route # Maximum depth: 898.305917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.067868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313951; longitude = -126.057162; captureRadius = 10; duration = 101; initialDepth = 855.067868; finalDepth = 857.987259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.934135 # Actual altitude: 50 # Commanded vehicle depth:855.067868 # Seafloor depth:-897.918933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.469570 meters # Minimum depth: 893.601567 meters looking forward 100.000000 meters along route # Maximum depth: 896.433340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.601567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314687; longitude = -126.057971; captureRadius = 10; duration = 101; initialDepth = 853.601567; finalDepth = 855.067868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8510650000001 # Actual altitude: 50 # Commanded vehicle depth:853.601567 # Seafloor depth:-895.244138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.469033 meters # Minimum depth: 877.540001 meters looking forward 100.000000 meters along route # Maximum depth: 892.881696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.540001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315423; longitude = -126.058779; captureRadius = 10; duration = 101; initialDepth = 837.540001; finalDepth = 853.601567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3416950000001 # Actual altitude: 55.3416950000001 # Commanded vehicle depth:837.540001 # Seafloor depth:-892.881696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.67; MB_Bottom_Detect_Filter_Max_Range = 132.82; MB_Bottom_Detect_Filter_Min_Depth = 27.67; MB_Bottom_Detect_Filter_Max_Depth = 132.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.468498 meters # Minimum depth: 854.737328 meters looking forward 100.000000 meters along route # Maximum depth: 877.130826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.737328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316159; longitude = -126.059588; captureRadius = 10; duration = 101; initialDepth = 814.737328; finalDepth = 837.540001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.3934979999999 # Actual altitude: 62.3934979999999 # Commanded vehicle depth:814.737328 # Seafloor depth:-877.130826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 149.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 149.74; MB_Bottom_Detect_Filter_Min_Depth = 31.20; MB_Bottom_Detect_Filter_Max_Depth = 149.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.467962 meters # Minimum depth: 832.590758 meters looking forward 100.000000 meters along route # Maximum depth: 853.228726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.590758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316895; longitude = -126.060397; captureRadius = 10; duration = 101; initialDepth = 792.590758; finalDepth = 814.737328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.3934979999999 # Actual altitude: 62.3934979999999 # Commanded vehicle depth:792.590758 # Seafloor depth:-853.228726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 149.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 149.74; MB_Bottom_Detect_Filter_Min_Depth = 31.20; MB_Bottom_Detect_Filter_Max_Depth = 149.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.467426 meters # Minimum depth: 780.190835 meters looking forward 100.000000 meters along route # Maximum depth: 832.563584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.190835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317631; longitude = -126.061205; captureRadius = 10; duration = 101; initialDepth = 740.190835; finalDepth = 792.590758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.372749 # Actual altitude: 92.372749 # Commanded vehicle depth:740.190835 # Seafloor depth:-832.563584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.19; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 46.19; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.888359 meters # Minimum depth: 750.096148 meters looking forward 100.000000 meters along route # Maximum depth: 775.438641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.096148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318366; longitude = -126.062014; captureRadius = 10; duration = 102; initialDepth = 710.096148; finalDepth = 740.190835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.372749 # Actual altitude: 92.372749 # Commanded vehicle depth:710.096148 # Seafloor depth:-775.438641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.19; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 46.19; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.409240 meters # Minimum depth: 729.972649 meters looking forward 100.000000 meters along route # Maximum depth: 749.940108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.972649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319113; longitude = -126.062834; captureRadius = 10; duration = 101; initialDepth = 689.972649; finalDepth = 710.096148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.342493 # Actual altitude: 65.342493 # Commanded vehicle depth:689.972649 # Seafloor depth:-749.940108 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 156.82; MB_Bottom_Detect_Filter_Min_Depth = 32.67; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 39.103060 meters # Minimum depth: 725.280776 meters looking forward 100.000000 meters along route # Maximum depth: 742.251168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.280776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319848; longitude = -126.063642; captureRadius = 10; duration = 39; initialDepth = 685.280776; finalDepth = 689.972649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.967459 # Actual altitude: 59.967459 # Commanded vehicle depth:685.280776 # Seafloor depth:-728.799545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 143.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 143.92; MB_Bottom_Detect_Filter_Min_Depth = 29.98; MB_Bottom_Detect_Filter_Max_Depth = 143.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.940631 meters # Minimum depth: 698.016030 meters looking forward 100.000000 meters along route # Maximum depth: 725.146856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.016030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320056; longitude = -126.063217; captureRadius = 10; duration = 110; initialDepth = 658.016030; finalDepth = 685.280776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.130826 # Actual altitude: 67.130826 # Commanded vehicle depth:658.01603 # Seafloor depth:-725.146856 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 161.11; MB_Bottom_Detect_Filter_Min_Depth = 33.57; MB_Bottom_Detect_Filter_Max_Depth = 161.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 67.291196 meters # Minimum depth: 697.948257 meters looking forward 100.000000 meters along route # Maximum depth: 710.527220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.948257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320646; longitude = -126.062011; captureRadius = 10; duration = 67; initialDepth = 657.948257; finalDepth = 658.016030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.130826 # Actual altitude: 67.130826 # Commanded vehicle depth:657.948257 # Seafloor depth:-697.948257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 161.11; MB_Bottom_Detect_Filter_Min_Depth = 33.57; MB_Bottom_Detect_Filter_Max_Depth = 161.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.476504 meters # Minimum depth: 712.369138 meters looking forward 100.000000 meters along route # Maximum depth: 760.543885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.369138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320158; longitude = -126.061475; captureRadius = 10; duration = 101; initialDepth = 672.369138; finalDepth = 657.948257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:672.369138 # Seafloor depth:-712.369138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.477040 meters # Minimum depth: 769.698807 meters looking forward 100.000000 meters along route # Maximum depth: 827.958495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.698807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319422; longitude = -126.060666; captureRadius = 10; duration = 101; initialDepth = 729.698807; finalDepth = 672.369138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:729.698807 # Seafloor depth:-769.698807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.477575 meters # Minimum depth: 829.236731 meters looking forward 100.000000 meters along route # Maximum depth: 864.821301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.236731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318686; longitude = -126.059858; captureRadius = 10; duration = 101; initialDepth = 789.236731; finalDepth = 729.698807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:789.236731 # Seafloor depth:-829.236731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.478112 meters # Minimum depth: 869.466696 meters looking forward 100.000000 meters along route # Maximum depth: 898.815989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.466696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317950; longitude = -126.059049; captureRadius = 10; duration = 101; initialDepth = 829.466696; finalDepth = 789.236731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:829.466696 # Seafloor depth:-869.466696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.478647 meters # Minimum depth: 899.094265 meters looking forward 100.000000 meters along route # Maximum depth: 904.217062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.094265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317214; longitude = -126.058240; captureRadius = 10; duration = 101; initialDepth = 859.094265; finalDepth = 829.466696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:859.094265 # Seafloor depth:-899.094265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.479183 meters # Minimum depth: 904.935778 meters looking forward 100.000000 meters along route # Maximum depth: 913.700172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.935778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316478; longitude = -126.057432; captureRadius = 10; duration = 101; initialDepth = 864.935778; finalDepth = 859.094265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:864.935778 # Seafloor depth:-904.935778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.479719 meters # Minimum depth: 913.709386 meters looking forward 100.000000 meters along route # Maximum depth: 919.028563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.709386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315742; longitude = -126.056623; captureRadius = 10; duration = 101; initialDepth = 873.709386; finalDepth = 864.935778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:873.709386 # Seafloor depth:-913.709386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.785941 meters # Minimum depth: 920.668003 meters looking forward 100.000000 meters along route # Maximum depth: 939.964843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.668003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315006; longitude = -126.055814; captureRadius = 10; duration = 102; initialDepth = 880.668003; finalDepth = 873.709386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:880.668003 # Seafloor depth:-920.668003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.175104 meters # Minimum depth: 940.140530 meters looking forward 100.000000 meters along route # Maximum depth: 958.812502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.140530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314261; longitude = -126.054995; captureRadius = 10; duration = 100; initialDepth = 900.140530; finalDepth = 880.668003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:900.14053 # Seafloor depth:-940.140530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.481326 meters # Minimum depth: 960.852187 meters looking forward 100.000000 meters along route # Maximum depth: 979.362114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.852187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313534; longitude = -126.054197; captureRadius = 10; duration = 101; initialDepth = 920.852187; finalDepth = 900.140530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:920.852187 # Seafloor depth:-960.852187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.481862 meters # Minimum depth: 982.837296 meters looking forward 100.000000 meters along route # Maximum depth: 989.767980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.837296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312798; longitude = -126.053388; captureRadius = 10; duration = 101; initialDepth = 942.837296; finalDepth = 920.852187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:942.837296 # Seafloor depth:-982.837296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.482398 meters # Minimum depth: 990.455402 meters looking forward 100.000000 meters along route # Maximum depth: 993.753866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.455402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312062; longitude = -126.052580; captureRadius = 10; duration = 101; initialDepth = 950.455402; finalDepth = 942.837296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:950.455402 # Seafloor depth:-990.455402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.482934 meters # Minimum depth: 993.296603 meters looking forward 100.000000 meters along route # Maximum depth: 995.428958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.296603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311326; longitude = -126.051771; captureRadius = 10; duration = 101; initialDepth = 953.296603; finalDepth = 950.455402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:953.296603 # Seafloor depth:-993.296603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.483470 meters # Minimum depth: 992.900688 meters looking forward 100.000000 meters along route # Maximum depth: 997.608497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.900688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310590; longitude = -126.050963; captureRadius = 10; duration = 101; initialDepth = 952.900688; finalDepth = 953.296603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.121353 # Actual altitude: 50 # Commanded vehicle depth:952.900688 # Seafloor depth:-994.022041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.484006 meters # Minimum depth: 998.225640 meters looking forward 100.000000 meters along route # Maximum depth: 1001.717152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.225640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309854; longitude = -126.050154; captureRadius = 10; duration = 101; initialDepth = 958.225640; finalDepth = 952.900688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.121353 # Actual altitude: 50 # Commanded vehicle depth:958.22564 # Seafloor depth:-998.225640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.695569 meters # Minimum depth: 1001.650158 meters looking forward 100.000000 meters along route # Maximum depth: 1002.780298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.650158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309118; longitude = -126.049345; captureRadius = 10; duration = 101; initialDepth = 961.650158; finalDepth = 958.225640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:961.650158 # Seafloor depth:-1001.650158 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 49.424574 meters # Minimum depth: 1002.363455 meters looking forward 100.000000 meters along route # Maximum depth: 1003.140520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.363455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308381; longitude = -126.048535; captureRadius = 10; duration = 49; initialDepth = 962.363455; finalDepth = 961.650158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3038419999999 # Actual altitude: 50 # Commanded vehicle depth:962.363455 # Seafloor depth:-1002.667297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.576067 meters # Minimum depth: 1000.238113 meters looking forward 100.000000 meters along route # Maximum depth: 1002.761911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.238113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.308644; longitude = -126.047998; captureRadius = 10; duration = 100; initialDepth = 960.238113; finalDepth = 962.363455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.155291 # Actual altitude: 50 # Commanded vehicle depth:960.238113 # Seafloor depth:-1002.393404 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 83.666830 meters # Minimum depth: 999.839311 meters looking forward 100.000000 meters along route # Maximum depth: 1001.118458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.839311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309178; longitude = -126.046904; captureRadius = 10; duration = 83; initialDepth = 959.839311; finalDepth = 960.238113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.155291 # Actual altitude: 50 # Commanded vehicle depth:959.839311 # Seafloor depth:-1000.240631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.299105 meters # Minimum depth: 997.473804 meters looking forward 100.000000 meters along route # Maximum depth: 1001.186396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.473804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.309773; longitude = -126.047593; captureRadius = 10; duration = 100; initialDepth = 957.473804; finalDepth = 959.839311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.712592 # Actual altitude: 50 # Commanded vehicle depth:957.473804 # Seafloor depth:-1001.186396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 113.629027 meters # Minimum depth: 995.224513 meters looking forward 100.000000 meters along route # Maximum depth: 997.652955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.224513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.310487; longitude = -126.048420; captureRadius = 10; duration = 113; initialDepth = 955.224513; finalDepth = 957.473804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.712592 # Actual altitude: 50 # Commanded vehicle depth:955.224513 # Seafloor depth:-997.427235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 113.628322 meters # Minimum depth: 994.120504 meters looking forward 100.000000 meters along route # Maximum depth: 996.204254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.120504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.311296; longitude = -126.049356; captureRadius = 10; duration = 113; initialDepth = 954.120504; finalDepth = 955.224513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.202722 # Actual altitude: 50 # Commanded vehicle depth:954.120504 # Seafloor depth:-995.242995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.131104 meters # Minimum depth: 992.616687 meters looking forward 100.000000 meters along route # Maximum depth: 994.278178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.616687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312104; longitude = -126.050292; captureRadius = 10; duration = 114; initialDepth = 952.616687; finalDepth = 954.120504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.497821 # Actual altitude: 50 # Commanded vehicle depth:952.616687 # Seafloor depth:-994.114508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.509850 meters # Minimum depth: 989.171138 meters looking forward 100.000000 meters along route # Maximum depth: 992.595256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.171138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.312917; longitude = -126.051232; captureRadius = 10; duration = 114; initialDepth = 949.171138; finalDepth = 952.616687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.4241179999999 # Actual altitude: 50 # Commanded vehicle depth:949.171138 # Seafloor depth:-992.595256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.509134 meters # Minimum depth: 983.827687 meters looking forward 100.000000 meters along route # Maximum depth: 989.124898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.827687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.313732; longitude = -126.052176; captureRadius = 10; duration = 114; initialDepth = 943.827687; finalDepth = 949.171138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2972110000001 # Actual altitude: 50 # Commanded vehicle depth:943.827687 # Seafloor depth:-989.124898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 114.508418 meters # Minimum depth: 974.796342 meters looking forward 100.000000 meters along route # Maximum depth: 983.755600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.796342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314546; longitude = -126.053119; captureRadius = 10; duration = 114; initialDepth = 934.796342; finalDepth = 943.827687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.959258 # Actual altitude: 50 # Commanded vehicle depth:934.796342 # Seafloor depth:-983.755600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.472527 meters # Minimum depth: 958.780005 meters looking forward 100.000000 meters along route # Maximum depth: 974.454035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.780005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315361; longitude = -126.054062; captureRadius = 10; duration = 110; initialDepth = 918.780005; finalDepth = 934.796342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.67403 # Actual altitude: 55.67403 # Commanded vehicle depth:918.780005 # Seafloor depth:-974.454035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 133.62; MB_Bottom_Detect_Filter_Min_Depth = 27.84; MB_Bottom_Detect_Filter_Max_Depth = 133.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.184064 meters # Minimum depth: 948.026476 meters looking forward 100.000000 meters along route # Maximum depth: 957.036853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.026476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316148; longitude = -126.054972; captureRadius = 10; duration = 102; initialDepth = 908.026476; finalDepth = 918.780005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.67403 # Actual altitude: 55.67403 # Commanded vehicle depth:908.026476 # Seafloor depth:-957.036853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 133.62; MB_Bottom_Detect_Filter_Min_Depth = 27.84; MB_Bottom_Detect_Filter_Max_Depth = 133.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.126232 meters # Minimum depth: 944.943795 meters looking forward 100.000000 meters along route # Maximum depth: 947.502605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.943795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316875; longitude = -126.055814; captureRadius = 10; duration = 106; initialDepth = 904.943795; finalDepth = 908.026476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0103769999999 # Actual altitude: 50 # Commanded vehicle depth:904.943795 # Seafloor depth:-947.502605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.018159 meters # Minimum depth: 922.055920 meters looking forward 100.000000 meters along route # Maximum depth: 943.345014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.055920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317630; longitude = -126.056689; captureRadius = 10; duration = 101; initialDepth = 882.055920; finalDepth = 904.943795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.289094 # Actual altitude: 61.289094 # Commanded vehicle depth:882.05592 # Seafloor depth:-943.345014 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 147.09; MB_Bottom_Detect_Filter_Min_Depth = 30.64; MB_Bottom_Detect_Filter_Max_Depth = 147.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 84.432955 meters # Minimum depth: 895.457051 meters looking forward 100.000000 meters along route # Maximum depth: 923.012666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.457051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318349; longitude = -126.057521; captureRadius = 10; duration = 84; initialDepth = 855.457051; finalDepth = 882.055920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.542506 # Actual altitude: 65.542506 # Commanded vehicle depth:855.457051 # Seafloor depth:-920.999557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 157.30; MB_Bottom_Detect_Filter_Min_Depth = 32.77; MB_Bottom_Detect_Filter_Max_Depth = 157.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.573563 meters # Minimum depth: 859.046663 meters looking forward 100.000000 meters along route # Maximum depth: 892.840887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.046663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317973; longitude = -126.058510; captureRadius = 10; duration = 103; initialDepth = 819.046663; finalDepth = 855.457051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.794224 # Actual altitude: 73.794224 # Commanded vehicle depth:819.046663 # Seafloor depth:-892.840887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 177.11; MB_Bottom_Detect_Filter_Min_Depth = 36.90; MB_Bottom_Detect_Filter_Max_Depth = 177.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.574217 meters # Minimum depth: 847.738385 meters looking forward 100.000000 meters along route # Maximum depth: 856.658486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.738385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317512; longitude = -126.059723; captureRadius = 10; duration = 103; initialDepth = 807.738385; finalDepth = 819.046663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.794224 # Actual altitude: 73.794224 # Commanded vehicle depth:807.738385 # Seafloor depth:-856.658486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 177.11; MB_Bottom_Detect_Filter_Min_Depth = 36.90; MB_Bottom_Detect_Filter_Max_Depth = 177.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.574871 meters # Minimum depth: 826.772495 meters looking forward 100.000000 meters along route # Maximum depth: 846.639424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.772495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317050; longitude = -126.060936; captureRadius = 10; duration = 103; initialDepth = 786.772495; finalDepth = 807.738385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8669289999999 # Actual altitude: 59.8669289999999 # Commanded vehicle depth:786.772495 # Seafloor depth:-846.639424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 143.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.93; MB_Bottom_Detect_Filter_Max_Range = 143.68; MB_Bottom_Detect_Filter_Min_Depth = 29.93; MB_Bottom_Detect_Filter_Max_Depth = 143.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.575524 meters # Minimum depth: 783.451530 meters looking forward 100.000000 meters along route # Maximum depth: 824.473778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 743.451530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316589; longitude = -126.062149; captureRadius = 10; duration = 103; initialDepth = 743.451530; finalDepth = 786.772495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.022248 # Actual altitude: 81.022248 # Commanded vehicle depth:743.45153 # Seafloor depth:-824.473778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.51; MB_Bottom_Detect_Filter_Max_Range = 194.45; MB_Bottom_Detect_Filter_Min_Depth = 40.51; MB_Bottom_Detect_Filter_Max_Depth = 194.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.576178 meters # Minimum depth: 763.454975 meters looking forward 100.000000 meters along route # Maximum depth: 782.025539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.454975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316128; longitude = -126.063362; captureRadius = 10; duration = 103; initialDepth = 723.454975; finalDepth = 743.451530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.022248 # Actual altitude: 81.022248 # Commanded vehicle depth:723.454975 # Seafloor depth:-782.025539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.51; MB_Bottom_Detect_Filter_Max_Range = 194.45; MB_Bottom_Detect_Filter_Min_Depth = 40.51; MB_Bottom_Detect_Filter_Max_Depth = 194.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.836521 meters # Minimum depth: 762.900546 meters looking forward 100.000000 meters along route # Maximum depth: 780.571253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.900546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315667; longitude = -126.064575; captureRadius = 10; duration = 103; initialDepth = 722.900546; finalDepth = 723.454975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.570564 # Actual altitude: 58.570564 # Commanded vehicle depth:722.900546 # Seafloor depth:-762.900546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.29; MB_Bottom_Detect_Filter_Max_Range = 140.57; MB_Bottom_Detect_Filter_Min_Depth = 29.29; MB_Bottom_Detect_Filter_Max_Depth = 140.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.967127 meters # Minimum depth: 780.620999 meters looking forward 100.000000 meters along route # Maximum depth: 791.481284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 740.620999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315204; longitude = -126.065791; captureRadius = 10; duration = 110; initialDepth = 740.620999; finalDepth = 722.900546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:740.620999 # Seafloor depth:-780.620999 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 32.374977 meters # Minimum depth: 787.313469 meters looking forward 100.000000 meters along route # Maximum depth: 791.645203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.313469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314710; longitude = -126.067090; captureRadius = 10; duration = 32; initialDepth = 747.313469; finalDepth = 740.620999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.331734 # Actual altitude: 50 # Commanded vehicle depth:747.313469 # Seafloor depth:-791.645203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.218886 meters # Minimum depth: 769.843691 meters looking forward 100.000000 meters along route # Maximum depth: 786.539679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 729.843691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.314975; longitude = -126.067270; captureRadius = 10; duration = 110; initialDepth = 729.843691; finalDepth = 747.313469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6959879999999 # Actual altitude: 56.6959879999999 # Commanded vehicle depth:729.843691 # Seafloor depth:-786.539679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 136.07; MB_Bottom_Detect_Filter_Min_Depth = 28.35; MB_Bottom_Detect_Filter_Max_Depth = 136.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.982904 meters # Minimum depth: 759.969630 meters looking forward 100.000000 meters along route # Maximum depth: 767.933729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.969630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.315878; longitude = -126.067883; captureRadius = 10; duration = 107; initialDepth = 719.969630; finalDepth = 729.843691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6959879999999 # Actual altitude: 56.6959879999999 # Commanded vehicle depth:719.96963 # Seafloor depth:-767.933729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 136.07; MB_Bottom_Detect_Filter_Min_Depth = 28.35; MB_Bottom_Detect_Filter_Max_Depth = 136.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.903587 meters # Minimum depth: 752.182750 meters looking forward 100.000000 meters along route # Maximum depth: 759.486985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.182750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.316763; longitude = -126.068483; captureRadius = 10; duration = 105; initialDepth = 712.182750; finalDepth = 719.969630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9640989999999 # Actual altitude: 50 # Commanded vehicle depth:712.18275 # Seafloor depth:-759.486985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.169110 meters # Minimum depth: 751.778816 meters looking forward 100.000000 meters along route # Maximum depth: 755.354525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.778816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.317630; longitude = -126.069072; captureRadius = 10; duration = 115; initialDepth = 711.778816; finalDepth = 712.182750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3042349999999 # Actual altitude: 50 # Commanded vehicle depth:711.778816 # Seafloor depth:-751.969083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.168734 meters # Minimum depth: 754.872755 meters looking forward 100.000000 meters along route # Maximum depth: 756.475696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.872755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.318573; longitude = -126.069712; captureRadius = 10; duration = 115; initialDepth = 714.872755; finalDepth = 711.778816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.610486 # Actual altitude: 50 # Commanded vehicle depth:714.872755 # Seafloor depth:-755.483241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.158091 meters # Minimum depth: 742.447206 meters looking forward 100.000000 meters along route # Maximum depth: 753.237189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.447206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.319517; longitude = -126.070352; captureRadius = 10; duration = 100; initialDepth = 702.447206; finalDepth = 714.872755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7899829999999 # Actual altitude: 50.7899829999999 # Commanded vehicle depth:702.447206 # Seafloor depth:-753.237189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 121.90; MB_Bottom_Detect_Filter_Min_Depth = 25.39; MB_Bottom_Detect_Filter_Max_Depth = 121.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 113.725700 meters # Minimum depth: 734.121276 meters looking forward 100.000000 meters along route # Maximum depth: 742.307393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.121276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.320337; longitude = -126.070909; captureRadius = 10; duration = 113; initialDepth = 694.121276; finalDepth = 702.447206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7899829999999 # Actual altitude: 50.7899829999999 # Commanded vehicle depth:694.121276 # Seafloor depth:-742.307393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 121.90; MB_Bottom_Detect_Filter_Min_Depth = 25.39; MB_Bottom_Detect_Filter_Max_Depth = 121.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.472032 meters # Minimum depth: 725.620394 meters looking forward 100.000000 meters along route # Maximum depth: 732.931246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.620394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.321269; longitude = -126.071541; captureRadius = 10; duration = 104; initialDepth = 685.620394; finalDepth = 694.121276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1861170000001 # Actual altitude: 50 # Commanded vehicle depth:685.620394 # Seafloor depth:-732.931246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.410459 meters # Minimum depth: 714.576528 meters looking forward 100.000000 meters along route # Maximum depth: 725.151622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.576528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.322125; longitude = -126.072122; captureRadius = 10; duration = 109; initialDepth = 674.576528; finalDepth = 685.620394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5750939999999 # Actual altitude: 50.5750939999999 # Commanded vehicle depth:674.576528 # Seafloor depth:-725.151622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 121.38; MB_Bottom_Detect_Filter_Min_Depth = 25.29; MB_Bottom_Detect_Filter_Max_Depth = 121.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.785919 meters # Minimum depth: 706.226681 meters looking forward 100.000000 meters along route # Maximum depth: 713.126459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.226681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323021; longitude = -126.072730; captureRadius = 10; duration = 108; initialDepth = 666.226681; finalDepth = 674.576528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5750939999999 # Actual altitude: 50.5750939999999 # Commanded vehicle depth:666.226681 # Seafloor depth:-713.126459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 121.38; MB_Bottom_Detect_Filter_Min_Depth = 25.29; MB_Bottom_Detect_Filter_Max_Depth = 121.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.095272 meters # Minimum depth: 693.142977 meters looking forward 100.000000 meters along route # Maximum depth: 705.363245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.142977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.323912; longitude = -126.073335; captureRadius = 10; duration = 105; initialDepth = 653.142977; finalDepth = 666.226681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.220268 # Actual altitude: 52.220268 # Commanded vehicle depth:653.142977 # Seafloor depth:-705.363245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 125.33; MB_Bottom_Detect_Filter_Min_Depth = 26.11; MB_Bottom_Detect_Filter_Max_Depth = 125.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.166257 meters # Minimum depth: 680.464734 meters looking forward 100.000000 meters along route # Maximum depth: 692.160494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.464734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.324773; longitude = -126.073919; captureRadius = 10; duration = 115; initialDepth = 640.464734; finalDepth = 653.142977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.220268 # Actual altitude: 52.220268 # Commanded vehicle depth:640.464734 # Seafloor depth:-692.160494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 125.33; MB_Bottom_Detect_Filter_Min_Depth = 26.11; MB_Bottom_Detect_Filter_Max_Depth = 125.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.165879 meters # Minimum depth: 672.741308 meters looking forward 100.000000 meters along route # Maximum depth: 681.679364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.741308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.325716; longitude = -126.074559; captureRadius = 10; duration = 115; initialDepth = 632.741308; finalDepth = 640.464734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.69576 # Actual altitude: 51.69576 # Commanded vehicle depth:632.741308 # Seafloor depth:-680.430280 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 124.07; MB_Bottom_Detect_Filter_Min_Depth = 25.85; MB_Bottom_Detect_Filter_Max_Depth = 124.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.961291 meters # Minimum depth: 637.703358 meters looking forward 100.000000 meters along route # Maximum depth: 669.198354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.703358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.326660; longitude = -126.075199; captureRadius = 10; duration = 100; initialDepth = 597.703358; finalDepth = 632.741308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.494996 # Actual altitude: 71.494996 # Commanded vehicle depth:597.703358 # Seafloor depth:-669.198354 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.75; MB_Bottom_Detect_Filter_Max_Range = 171.59; MB_Bottom_Detect_Filter_Min_Depth = 35.75; MB_Bottom_Detect_Filter_Max_Depth = 171.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.917201 meters # Minimum depth: 615.342090 meters looking forward 100.000000 meters along route # Maximum depth: 636.861992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.342090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.327487; longitude = -126.075761; captureRadius = 10; duration = 112; initialDepth = 575.342090; finalDepth = 597.703358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.494996 # Actual altitude: 71.494996 # Commanded vehicle depth:575.34209 # Seafloor depth:-636.861992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.75; MB_Bottom_Detect_Filter_Max_Range = 171.59; MB_Bottom_Detect_Filter_Min_Depth = 35.75; MB_Bottom_Detect_Filter_Max_Depth = 171.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.275119 meters # Minimum depth: 596.467576 meters looking forward 100.000000 meters along route # Maximum depth: 612.548825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.467576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.328412; longitude = -126.076388; captureRadius = 10; duration = 105; initialDepth = 556.467576; finalDepth = 575.342090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.519902 # Actual altitude: 61.519902 # Commanded vehicle depth:556.467576 # Seafloor depth:-612.548825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 147.65; MB_Bottom_Detect_Filter_Min_Depth = 30.76; MB_Bottom_Detect_Filter_Max_Depth = 147.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 108.602072 meters # Minimum depth: 590.841537 meters looking forward 100.000000 meters along route # Maximum depth: 605.394330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.841537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.329274; longitude = -126.076974; captureRadius = 10; duration = 108; initialDepth = 550.841537; finalDepth = 556.467576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.081249 # Actual altitude: 56.081249 # Commanded vehicle depth:550.841537 # Seafloor depth:-596.446680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 134.59; MB_Bottom_Detect_Filter_Min_Depth = 28.04; MB_Bottom_Detect_Filter_Max_Depth = 134.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.588895 meters # Minimum depth: 574.522636 meters looking forward 100.000000 meters along route # Maximum depth: 591.335770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.522636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.330164; longitude = -126.077577; captureRadius = 10; duration = 109; initialDepth = 534.522636; finalDepth = 550.841537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.813134 # Actual altitude: 56.813134 # Commanded vehicle depth:534.522636 # Seafloor depth:-591.335770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.41; MB_Bottom_Detect_Filter_Max_Range = 136.35; MB_Bottom_Detect_Filter_Min_Depth = 28.41; MB_Bottom_Detect_Filter_Max_Depth = 136.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.286997 meters # Minimum depth: 560.432627 meters looking forward 100.000000 meters along route # Maximum depth: 575.734084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 520.432627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331062; longitude = -126.078186; captureRadius = 10; duration = 104; initialDepth = 520.432627; finalDepth = 534.522636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.813134 # Actual altitude: 56.813134 # Commanded vehicle depth:520.432627 # Seafloor depth:-573.495941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.41; MB_Bottom_Detect_Filter_Max_Range = 136.35; MB_Bottom_Detect_Filter_Min_Depth = 28.41; MB_Bottom_Detect_Filter_Max_Depth = 136.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.163404 meters # Minimum depth: 549.301986 meters looking forward 100.000000 meters along route # Maximum depth: 569.369945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.301986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.331916; longitude = -126.078766; captureRadius = 10; duration = 115; initialDepth = 509.301986; finalDepth = 520.432627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.067959 # Actual altitude: 60.067959 # Commanded vehicle depth:509.301986 # Seafloor depth:-569.369945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 144.16; MB_Bottom_Detect_Filter_Min_Depth = 30.03; MB_Bottom_Detect_Filter_Max_Depth = 144.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.163027 meters # Minimum depth: 541.985772 meters looking forward 100.000000 meters along route # Maximum depth: 553.509366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.985772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.332859; longitude = -126.079406; captureRadius = 10; duration = 115; initialDepth = 501.985772; finalDepth = 509.301986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.067959 # Actual altitude: 60.067959 # Commanded vehicle depth:501.985772 # Seafloor depth:-553.509366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 144.16; MB_Bottom_Detect_Filter_Min_Depth = 30.03; MB_Bottom_Detect_Filter_Max_Depth = 144.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.764450 meters # Minimum depth: 538.609608 meters looking forward 100.000000 meters along route # Maximum depth: 541.736029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.609608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.333803; longitude = -126.080047; captureRadius = 10; duration = 101; initialDepth = 498.609608; finalDepth = 501.985772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.523594 # Actual altitude: 51.523594 # Commanded vehicle depth:498.609608 # Seafloor depth:-541.736029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 123.66; MB_Bottom_Detect_Filter_Min_Depth = 25.76; MB_Bottom_Detect_Filter_Max_Depth = 123.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 112.108742 meters # Minimum depth: 534.745462 meters looking forward 100.000000 meters along route # Maximum depth: 538.550311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.745462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.334636; longitude = -126.080612; captureRadius = 10; duration = 112; initialDepth = 494.745462; finalDepth = 498.609608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.804849 # Actual altitude: 50 # Commanded vehicle depth:494.745462 # Seafloor depth:-538.550311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.078167 meters # Minimum depth: 530.433762 meters looking forward 100.000000 meters along route # Maximum depth: 534.435592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.433762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.335555; longitude = -126.081236; captureRadius = 10; duration = 106; initialDepth = 490.433762; finalDepth = 494.745462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.00183 # Actual altitude: 50 # Commanded vehicle depth:490.433762 # Seafloor depth:-534.435592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.793727 meters # Minimum depth: 527.478233 meters looking forward 100.000000 meters along route # Maximum depth: 532.896782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.478233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.336424; longitude = -126.081825; captureRadius = 10; duration = 107; initialDepth = 487.478233; finalDepth = 490.433762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.101694 # Actual altitude: 50 # Commanded vehicle depth:487.478233 # Seafloor depth:-531.579927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.391831 meters # Minimum depth: 524.280015 meters looking forward 100.000000 meters along route # Maximum depth: 527.006499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.280015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.337307; longitude = -126.082425; captureRadius = 10; duration = 110; initialDepth = 484.280015; finalDepth = 487.478233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.101694 # Actual altitude: 50 # Commanded vehicle depth:484.280015 # Seafloor depth:-527.006499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.478762 meters # Minimum depth: 519.563729 meters looking forward 100.000000 meters along route # Maximum depth: 523.708105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.563729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.338211; longitude = -126.083038; captureRadius = 10; duration = 103; initialDepth = 479.563729; finalDepth = 484.280015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.1443760000001 # Actual altitude: 50 # Commanded vehicle depth:479.563729 # Seafloor depth:-523.708105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.160551 meters # Minimum depth: 516.314137 meters looking forward 100.000000 meters along route # Maximum depth: 519.305982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.314137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.339059; longitude = -126.083614; captureRadius = 10; duration = 115; initialDepth = 476.314137; finalDepth = 479.563729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.1443760000001 # Actual altitude: 50 # Commanded vehicle depth:476.314137 # Seafloor depth:-519.305982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.160174 meters # Minimum depth: 512.039350 meters looking forward 100.000000 meters along route # Maximum depth: 516.298991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.039350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340002; longitude = -126.084254; captureRadius = 10; duration = 115; initialDepth = 472.039350; finalDepth = 476.314137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.259641 # Actual altitude: 50 # Commanded vehicle depth:472.03935 # Seafloor depth:-516.298991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.567570 meters # Minimum depth: 505.575617 meters looking forward 100.000000 meters along route # Maximum depth: 511.358047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 465.575617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.340946; longitude = -126.084894; captureRadius = 10; duration = 102; initialDepth = 465.575617; finalDepth = 472.039350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.78243 # Actual altitude: 50 # Commanded vehicle depth:465.575617 # Seafloor depth:-511.358047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.300325 meters # Minimum depth: 498.838171 meters looking forward 100.000000 meters along route # Maximum depth: 505.237871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.838171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.341786; longitude = -126.085464; captureRadius = 10; duration = 111; initialDepth = 458.838171; finalDepth = 465.575617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3997 # Actual altitude: 50 # Commanded vehicle depth:458.838171 # Seafloor depth:-505.237871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.881176 meters # Minimum depth: 494.644613 meters looking forward 100.000000 meters along route # Maximum depth: 497.430319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.644613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.342698; longitude = -126.086083; captureRadius = 10; duration = 106; initialDepth = 454.644613; finalDepth = 458.838171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3997 # Actual altitude: 50 # Commanded vehicle depth:454.644613 # Seafloor depth:-497.430319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.985420 meters # Minimum depth: 487.430396 meters looking forward 100.000000 meters along route # Maximum depth: 494.604319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.430396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.343573; longitude = -126.086677; captureRadius = 10; duration = 106; initialDepth = 447.430396; finalDepth = 454.644613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.173923 # Actual altitude: 50 # Commanded vehicle depth:447.430396 # Seafloor depth:-494.604319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.194728 meters # Minimum depth: 480.933211 meters looking forward 100.000000 meters along route # Maximum depth: 487.070824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.933211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.344450; longitude = -126.087272; captureRadius = 10; duration = 111; initialDepth = 440.933211; finalDepth = 447.430396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.173923 # Actual altitude: 50 # Commanded vehicle depth:440.933211 # Seafloor depth:-486.774761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.670569 meters # Minimum depth: 473.618105 meters looking forward 100.000000 meters along route # Maximum depth: 479.372922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.618105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.345361; longitude = -126.087890; captureRadius = 10; duration = 102; initialDepth = 433.618105; finalDepth = 440.933211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.84155 # Actual altitude: 50 # Commanded vehicle depth:433.618105 # Seafloor depth:-479.372922 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 115.508227 meters # Minimum depth: 465.257151 meters looking forward 100.000000 meters along route # Maximum depth: 474.165266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 425.257151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.346202; longitude = -126.088461; captureRadius = 10; duration = 115; initialDepth = 425.257151; finalDepth = 433.618105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.908115 # Actual altitude: 50 # Commanded vehicle depth:425.257151 # Seafloor depth:-474.165266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 114.806793 meters # Minimum depth: 460.181858 meters looking forward 100.000000 meters along route # Maximum depth: 465.239497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.181858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.347148; longitude = -126.089103; captureRadius = 10; duration = 114; initialDepth = 420.181858; finalDepth = 425.257151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.908115 # Actual altitude: 50 # Commanded vehicle depth:420.181858 # Seafloor depth:-465.239497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.370651 meters # Minimum depth: 454.625446 meters looking forward 100.000000 meters along route # Maximum depth: 459.200990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 414.625446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.348089; longitude = -126.089741; captureRadius = 10; duration = 103; initialDepth = 414.625446; finalDepth = 420.181858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.057639 # Actual altitude: 50 # Commanded vehicle depth:414.625446 # Seafloor depth:-459.200990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.054907 meters # Minimum depth: 451.683276 meters looking forward 100.000000 meters along route # Maximum depth: 454.343003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.683276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.348935; longitude = -126.090316; captureRadius = 10; duration = 105; initialDepth = 411.683276; finalDepth = 414.625446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.575544 # Actual altitude: 50 # Commanded vehicle depth:411.683276 # Seafloor depth:-454.343003 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 28.087245 meters # Minimum depth: 451.683276 meters looking forward 100.000000 meters along route # Maximum depth: 452.756534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.683276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349796; longitude = -126.090900; captureRadius = 10; duration = 28; initialDepth = 411.683276; finalDepth = 411.683276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.659727 # Actual altitude: 50 # Commanded vehicle depth:411.683276 # Seafloor depth:-452.157898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.059272 meters # Minimum depth: 450.127100 meters looking forward 100.000000 meters along route # Maximum depth: 452.265514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.127100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.349975; longitude = -126.091167; captureRadius = 10; duration = 109; initialDepth = 410.127100; finalDepth = 411.683276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.458417 # Actual altitude: 50 # Commanded vehicle depth:410.1271 # Seafloor depth:-451.585517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.041898 meters # Minimum depth: 451.615027 meters looking forward 100.000000 meters along route # Maximum depth: 452.951363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.615027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.350672; longitude = -126.092203; captureRadius = 10; duration = 102; initialDepth = 411.615027; finalDepth = 410.127100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.458417 # Actual altitude: 50 # Commanded vehicle depth:411.615027 # Seafloor depth:-452.139912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.775582 meters # Minimum depth: 451.566201 meters looking forward 100.000000 meters along route # Maximum depth: 453.605977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.566201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.351323; longitude = -126.093172; captureRadius = 10; duration = 110; initialDepth = 411.566201; finalDepth = 411.615027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.557328 # Actual altitude: 50 # Commanded vehicle depth:411.566201 # Seafloor depth:-452.123529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.322682 meters # Minimum depth: 450.105703 meters looking forward 100.000000 meters along route # Maximum depth: 456.338379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.105703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.352030; longitude = -126.094224; captureRadius = 10; duration = 100; initialDepth = 410.105703; finalDepth = 411.566201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.640837 # Actual altitude: 50 # Commanded vehicle depth:410.105703 # Seafloor depth:-452.746540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.548041 meters # Minimum depth: 448.993933 meters looking forward 100.000000 meters along route # Maximum depth: 451.237367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 408.993933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.352671; longitude = -126.095177; captureRadius = 10; duration = 105; initialDepth = 408.993933; finalDepth = 410.105703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.640837 # Actual altitude: 50 # Commanded vehicle depth:408.993933 # Seafloor depth:-450.530917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.256236 meters # Minimum depth: 444.948022 meters looking forward 100.000000 meters along route # Maximum depth: 449.487374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.948022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.353345; longitude = -126.096180; captureRadius = 10; duration = 106; initialDepth = 404.948022; finalDepth = 408.993933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.416198 # Actual altitude: 50 # Commanded vehicle depth:404.948022 # Seafloor depth:-449.364220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.837666 meters # Minimum depth: 442.857559 meters looking forward 100.000000 meters along route # Maximum depth: 446.729736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.857559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.354023; longitude = -126.097189; captureRadius = 10; duration = 104; initialDepth = 402.857559; finalDepth = 404.948022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.416198 # Actual altitude: 50 # Commanded vehicle depth:402.857559 # Seafloor depth:-446.729736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.972525 meters # Minimum depth: 438.846931 meters looking forward 100.000000 meters along route # Maximum depth: 442.453598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.846931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.354692; longitude = -126.098185; captureRadius = 10; duration = 107; initialDepth = 398.846931; finalDepth = 402.857559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.872177 # Actual altitude: 50 # Commanded vehicle depth:398.846931 # Seafloor depth:-442.301300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.118470 meters # Minimum depth: 434.702652 meters looking forward 100.000000 meters along route # Maximum depth: 438.806348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.702652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.355382; longitude = -126.099211; captureRadius = 10; duration = 103; initialDepth = 394.702652; finalDepth = 398.846931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.103696 # Actual altitude: 50 # Commanded vehicle depth:394.702652 # Seafloor depth:-438.806348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.688767 meters # Minimum depth: 432.703773 meters looking forward 100.000000 meters along route # Maximum depth: 434.683743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.703773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.356040; longitude = -126.100190; captureRadius = 10; duration = 109; initialDepth = 392.703773; finalDepth = 394.702652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.103696 # Actual altitude: 50 # Commanded vehicle depth:392.703773 # Seafloor depth:-434.683743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.399321 meters # Minimum depth: 430.784321 meters looking forward 100.000000 meters along route # Maximum depth: 432.734161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.784321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.356740; longitude = -126.101232; captureRadius = 10; duration = 101; initialDepth = 390.784321; finalDepth = 392.703773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.97997 # Actual altitude: 50 # Commanded vehicle depth:390.784321 # Seafloor depth:-432.734161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.542954 meters # Minimum depth: 427.810923 meters looking forward 100.000000 meters along route # Maximum depth: 430.872531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.810923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.357388; longitude = -126.102196; captureRadius = 10; duration = 105; initialDepth = 387.810923; finalDepth = 390.784321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.061608 # Actual altitude: 50 # Commanded vehicle depth:387.810923 # Seafloor depth:-430.872531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.542227 meters # Minimum depth: 423.648919 meters looking forward 100.000000 meters along route # Maximum depth: 427.763792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.648919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.358062; longitude = -126.103198; captureRadius = 10; duration = 105; initialDepth = 383.648919; finalDepth = 387.810923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.114873 # Actual altitude: 50 # Commanded vehicle depth:383.648919 # Seafloor depth:-427.763792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.541500 meters # Minimum depth: 421.537842 meters looking forward 100.000000 meters along route # Maximum depth: 423.777165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.537842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.358735; longitude = -126.104201; captureRadius = 10; duration = 105; initialDepth = 381.537842; finalDepth = 383.648919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.114873 # Actual altitude: 50 # Commanded vehicle depth:381.537842 # Seafloor depth:-423.777165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.885883 meters # Minimum depth: 417.177752 meters looking forward 100.000000 meters along route # Maximum depth: 421.631952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.177752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.359409; longitude = -126.105204; captureRadius = 10; duration = 106; initialDepth = 377.177752; finalDepth = 381.537842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.541786 # Actual altitude: 50 # Commanded vehicle depth:377.177752 # Seafloor depth:-420.719538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.194938 meters # Minimum depth: 415.513455 meters looking forward 100.000000 meters along route # Maximum depth: 417.885113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.513455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.360092; longitude = -126.106219; captureRadius = 10; duration = 104; initialDepth = 375.513455; finalDepth = 377.177752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.541786 # Actual altitude: 50 # Commanded vehicle depth:375.513455 # Seafloor depth:-417.048757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.602056 meters # Minimum depth: 412.960306 meters looking forward 100.000000 meters along route # Maximum depth: 416.399623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.960306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.360757; longitude = -126.107209; captureRadius = 10; duration = 108; initialDepth = 372.960306; finalDepth = 375.513455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.524778 # Actual altitude: 50 # Commanded vehicle depth:372.960306 # Seafloor depth:-415.485084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.475858 meters # Minimum depth: 411.155607 meters looking forward 100.000000 meters along route # Maximum depth: 414.659329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.155607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.361450; longitude = -126.108241; captureRadius = 10; duration = 102; initialDepth = 371.155607; finalDepth = 372.960306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.503722 # Actual altitude: 50 # Commanded vehicle depth:371.155607 # Seafloor depth:-414.659329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.318183 meters # Minimum depth: 407.693969 meters looking forward 100.000000 meters along route # Maximum depth: 413.508019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.693969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.362105; longitude = -126.109214; captureRadius = 10; duration = 110; initialDepth = 367.693969; finalDepth = 371.155607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.121318 # Actual altitude: 50 # Commanded vehicle depth:367.693969 # Seafloor depth:-411.815287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.756824 meters # Minimum depth: 405.334238 meters looking forward 100.000000 meters along route # Maximum depth: 407.566654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.334238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.362809; longitude = -126.110262; captureRadius = 10; duration = 100; initialDepth = 365.334238; finalDepth = 367.693969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.121318 # Actual altitude: 50 # Commanded vehicle depth:365.334238 # Seafloor depth:-407.469139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.536414 meters # Minimum depth: 401.463908 meters looking forward 100.000000 meters along route # Maximum depth: 406.024235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.463908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.363452; longitude = -126.111219; captureRadius = 10; duration = 105; initialDepth = 361.463908; finalDepth = 365.334238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.560327 # Actual altitude: 50 # Commanded vehicle depth:361.463908 # Seafloor depth:-406.024235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.799345 meters # Minimum depth: 398.743635 meters looking forward 100.000000 meters along route # Maximum depth: 401.478742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.743635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.364126; longitude = -126.112222; captureRadius = 10; duration = 105; initialDepth = 358.743635; finalDepth = 361.463908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.560327 # Actual altitude: 50 # Commanded vehicle depth:358.743635 # Seafloor depth:-401.317483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.271303 meters # Minimum depth: 396.851227 meters looking forward 100.000000 meters along route # Maximum depth: 398.734170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.851227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.364802; longitude = -126.113227; captureRadius = 10; duration = 105; initialDepth = 356.851227; finalDepth = 358.743635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.573848 # Actual altitude: 50 # Commanded vehicle depth:356.851227 # Seafloor depth:-398.734170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.515451 meters # Minimum depth: 394.975865 meters looking forward 100.000000 meters along route # Maximum depth: 396.747141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.975865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.365474; longitude = -126.114227; captureRadius = 10; duration = 107; initialDepth = 354.975865; finalDepth = 356.851227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.882943 # Actual altitude: 50 # Commanded vehicle depth:354.975865 # Seafloor depth:-396.622858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.552290 meters # Minimum depth: 393.087123 meters looking forward 100.000000 meters along route # Maximum depth: 395.377543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 353.087123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.366161; longitude = -126.115249; captureRadius = 10; duration = 103; initialDepth = 353.087123; finalDepth = 354.975865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.984691 # Actual altitude: 50 # Commanded vehicle depth:353.087123 # Seafloor depth:-395.071814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.231510 meters # Minimum depth: 391.631357 meters looking forward 100.000000 meters along route # Maximum depth: 393.762697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.631357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.366822; longitude = -126.116233; captureRadius = 10; duration = 109; initialDepth = 351.631357; finalDepth = 353.087123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.13134 # Actual altitude: 50 # Commanded vehicle depth:351.631357 # Seafloor depth:-393.762697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.800570 meters # Minimum depth: 390.332575 meters looking forward 100.000000 meters along route # Maximum depth: 391.581220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.332575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.367519; longitude = -126.117270; captureRadius = 10; duration = 108; initialDepth = 350.332575; finalDepth = 351.631357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.13134 # Actual altitude: 50 # Commanded vehicle depth:350.332575 # Seafloor depth:-391.568283 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 41.235708 # Actual altitude: 50 # Commanded vehicle depth:350.332575 # Seafloor depth:-390.338356 # behavior reson { duration = 6; 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 = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 390.332575 meters looking forward 100.000000 meters along route # Maximum depth: 391.581220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1500.000000 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.332575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.368214; longitude = -126.118304; captureRadius = 10; duration = 500; initialDepth = 350.332575; finalDepth = 350.332575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 133.077377; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 133.077377; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 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 = 60.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 60.00; MB_Bottom_Detect_Filter_Min_Depth = 12.50; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################