<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{IvP Behaviors Implemented!\var{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. 

\pskip

\noindent
This behavior differs from the maximum depth in the OpRegion behavior. 
In the 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 OpRegion 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.

\pskip

\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}

See Figure \ref{zaic-peak-overview-fig}.

\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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