<html><head><meta name="color-scheme" content="light dark"></head><body><pre style="word-wrap: break-word; white-space: pre-wrap;">%=====================================================================
\section{The MaxDepth Behavior}
%=====================================================================
%\wikisec{grp=bhvsolo, file=BehaviorMaxDepth,short=MaxDepth Behavior}
\label{bhv_maxdepth}
%\index{MaxDepth Behavior}

This behavior will drive the vehicle within a configured depth
tolerance.  This behavior merely expresses a preference for a
particular depth. If other behaviors also have a depth preference,
coordination/compromise will take place through the multi-objective
optimization process. 

\vspace{0.1in}
\noindent
This behavior differs from the maximum depth in the \var{OpRegion} or
newer \var{OpRegionV24} behavior In the \var{MaxDepth} behavior, an
objective function is produced to prevent the vehicle from exceeding
the maximum depth, perhaps tempering other behaviors that may prefer
deeper depths. In the \var{OpRegionV24} behavior there is no attempt
to influence the vehicle depth, but rather only to monitor the
observed depth and produce an error if the depth is exceeded.

\vspace{0.1in}
\noindent
The following parameters are defined for this behavior:

%======================================================================
\subsection{Configuration Parameters}
\label{sec_max_dep_params}

\input{includes/bhv_all_properties}

\begin{listing}{Configuration Parameters for the MaxDepth Behavior}
\label{lst_bhv_max_depth}
\small
\renewcommand{\arraystretch}{1.15}
\begin{longtable}{rp{0.76\textwidth}} 

  {\bf Parameter} &amp; {\bf Description} \\  

  \bvar{basewidth}: &amp; The width of the base, in meters, in the produced
  ZAIC-style IvP function. Section \ref{sec_max_dep_ipf}. \\
  
  \bvar{max\_depth}: &amp; The maximum allowable depth of the vehicle, in
  meters. \\

  \bvar{tolerance}: &amp; Another way (alias) of setting the \bvar{basewidth}
  parameter Section \ref{sec_max_dep_ipf}. \\

  \bvar{depth\_slack\_var}: &amp; Name of the MOOS variable indicating
  the present delta between the maximum depth and the current
  depth. Section \ref{sec_const_dep_pubs}. 
\end{longtable}
\end{listing}
\normalsize

\vspace{0.15in}
\begin{listing}{Example Configuration Block}
\label{lst_bhv_const_dep_ex}

\begin{fileverb}
Behavior = BHV_MaxDepth
{
  // General Behavior Parameters
  // ---------------------------
  name      = maxdepth
  pwt       = 1000
  condition = MODE==ACTIVE

  // Parameters specific to this behavior
  // ------------------------------------
        max_depth = 80              // example (meters)
        tolerance = 100             // default (meters)
  depth_slack_var = DEPTH_SLACK     // example
}
\end{fileverb}
\end{listing}

%====================================================================
\subsection{Variables Published}
\label{sec_const_dep_pubs}

The behavior may be optionally configured to publish a variable
indicating the discrepancy between the maximum allowed depth and the
actual observed depth.  The MOOS variable is named using the
\bvar{depth\_slack\_var} parameter.  This variable will only be
published when the behavior is in the running state.


%====================================================================
\subsection{The MaxDepth Objective Function}
\label{sec_max_dep_ipf}

\begin{itemize}

\item \bvar{basewidth}: The width of the base, in meters in the
  produced objective function. The default is 100.  See Figure
  \ref{zaic-leq-fig} for more on the basewidth parameter
  used in the ZAIC tool for building IvP functions.

\item \bvar{tolerance}: This is an alias, or another way of specifying
  the \bvar{basewidth} parametr.

\end{itemize}



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