# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # : mbm_route2mission 2270 2016-03-25 02:15:32Z caress r # # Mission Summary: # Route File: MARSHydrophone_m1v2.rte # Mission File: MARSHydrophone_m1v2.cfg # Distance: 20730.856332 (m) # Estimated Time: 15983 (s) 4.440 (hr) # Abort Time: 20778 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1919 (s) # Way Points: 25 # Route Points: 190 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 30 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 6.6e-05 usec # Multibeam minimum range fraction: 0.3 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 38 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 25 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1254.724793 (m) # Abort Vehicle Depth: 1279.724793 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 828.076752 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 25 (degrees) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.186060 36.712786 -888.076752 0.000000 1 # 1 -122.186172 36.708309 -910.898193 496.757002 1 # 2 -122.185985 36.717225 -862.094727 1485.995378 3 # 3 -122.186060 36.712786 -888.076752 1978.482041 3 # 4 -122.186172 36.708309 -910.898193 2475.239043 3 # 5 -122.185985 36.717225 -862.094727 3464.477420 3 # 6 -122.185649 36.717225 -860.253830 3494.485676 3 # 7 -122.185836 36.708309 -908.913361 4483.724106 3 # 8 -122.186507 36.708309 -912.478729 4543.658232 3 # 9 -122.186321 36.717225 -862.462997 5532.895052 3 # 10 -122.180464 36.712674 -890.410141 6259.895471 3 # 11 -122.191805 36.712860 -897.231125 7273.032073 3 # 12 -122.179904 36.712674 -892.833115 8336.175486 3 # 13 -122.186209 36.707936 -914.242035 9106.504489 3 # 14 -122.186097 36.709950 -897.214737 9330.151489 5 # 15 -122.186097 36.711405 -890.436523 9491.562006 5 # 16 -122.186060 36.714241 -877.826172 9806.191314 5 # 17 -122.185985 36.715994 -869.554688 10000.775956 3 # 18 -122.185948 36.717598 -860.136688 10178.746663 3 # 19 -122.180613 36.717337 -845.999786 10656.094680 3 # 20 -122.195349 36.703161 -992.942612 12706.823016 3 # 21 -122.196468 36.704168 -986.336243 12856.724787 3 # 22 -122.181807 36.718382 -841.371094 14906.390080 3 # 23 -122.179270 36.716442 -850.209961 15218.889181 3 # 24 -122.218442 36.678053 -1286.191620 20730.856332 4 # # A total of 190 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 5400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1254.724793; abortDepth = 1279.724793; minAltitude = 50.000000; abortAltitude = 12.000000; deltaDepthRestart = 38.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1919; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 155.313005 meters # Minimum depth: 1279.724793 meters looking forward 100.000000 meters along route # Maximum depth: 1286.191620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.724793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.678053; longitude = -122.218442; duration = 621; # abortOnTimeout = True; initialDepth = 1225.127915; finalDepth = 1229.724793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.466827 # Actual altitude: 56.466827 # Commanded vehicle depth: 1229.724793 # Seafloor depth: -1286.191620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 112.499816 meters # Minimum depth: 1275.127915 meters looking forward 100.000000 meters along route # Maximum depth: 1280.097923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.127915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.679135; longitude = -122.217338; duration = 449; initialDepth = 1216.843389; finalDepth = 1225.127915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.466827 # Actual altitude: 56.466827 # Commanded vehicle depth: 1225.127915 # Seafloor depth: -1279.702019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.878689 meters # Minimum depth: 1266.843389 meters looking forward 100.000000 meters along route # Maximum depth: 1274.669220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.843389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.679918; longitude = -122.216539; duration = 419; initialDepth = 1210.120393; finalDepth = 1216.843389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8258310000001 # Actual altitude: 57.8258310000001 # Commanded vehicle depth: 1216.843389 # Seafloor depth: -1274.669220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.048380 meters # Minimum depth: 1260.120393 meters looking forward 100.000000 meters along route # Maximum depth: 1266.370411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.120393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.680648; longitude = -122.215794; duration = 416; initialDepth = 1198.208409; finalDepth = 1210.120393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8258310000001 # Actual altitude: 57.8258310000001 # Commanded vehicle depth: 1210.120393 # Seafloor depth: -1266.370411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.701768 meters # Minimum depth: 1248.208409 meters looking forward 100.000000 meters along route # Maximum depth: 1257.291522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.208409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.681373; longitude = -122.215054; duration = 402; initialDepth = 1194.212628; finalDepth = 1198.208409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0831129999999 # Actual altitude: 59.0831129999999 # Commanded vehicle depth: 1198.208409 # Seafloor depth: -1257.291522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.249479 meters # Minimum depth: 1244.212628 meters looking forward 100.000000 meters along route # Maximum depth: 1247.551638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.212628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.682074; longitude = -122.214339; duration = 440; initialDepth = 1182.380500; finalDepth = 1194.212628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0831129999999 # Actual altitude: 59.0831129999999 # Commanded vehicle depth: 1194.212628 # Seafloor depth: -1247.551638 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.472069 meters # Minimum depth: 1232.380500 meters looking forward 100.000000 meters along route # Maximum depth: 1243.766650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1182.380500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.682842; longitude = -122.213555; duration = 441; initialDepth = 1171.914509; finalDepth = 1182.380500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.38615 # Actual altitude: 61.38615 # Commanded vehicle depth: 1182.3805 # Seafloor depth: -1243.766650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.497317 meters # Minimum depth: 1221.914509 meters looking forward 100.000000 meters along route # Maximum depth: 1232.424384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.914509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.683611; longitude = -122.212770; duration = 449; initialDepth = 1157.133491; finalDepth = 1171.914509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.38615 # Actual altitude: 61.38615 # Commanded vehicle depth: 1171.914509 # Seafloor depth: -1232.424384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.496880 meters # Minimum depth: 1207.133491 meters looking forward 100.000000 meters along route # Maximum depth: 1222.226847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.133491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.684395; longitude = -122.211971; duration = 449; initialDepth = 1147.624836; finalDepth = 1157.133491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0933559999999 # Actual altitude: 65.0933559999999 # Commanded vehicle depth: 1157.133491 # Seafloor depth: -1222.226847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.527452 meters # Minimum depth: 1197.624836 meters looking forward 100.000000 meters along route # Maximum depth: 1206.432247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.624836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.685178; longitude = -122.211171; duration = 422; initialDepth = 1139.393052; finalDepth = 1147.624836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0933559999999 # Actual altitude: 65.0933559999999 # Commanded vehicle depth: 1147.624836 # Seafloor depth: -1206.432247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.394164 meters # Minimum depth: 1189.393052 meters looking forward 100.000000 meters along route # Maximum depth: 1197.615330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.393052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.685913; longitude = -122.210421; duration = 413; initialDepth = 1131.602604; finalDepth = 1139.393052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.807411 # Actual altitude: 58.807411 # Commanded vehicle depth: 1139.393052 # Seafloor depth: -1197.615330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.350635 meters # Minimum depth: 1181.602604 meters looking forward 100.000000 meters along route # Maximum depth: 1188.303238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.602604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.686633; longitude = -122.209687; duration = 405; initialDepth = 1122.193905; finalDepth = 1131.602604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2222780000002 # Actual altitude: 58.2222780000002 # Commanded vehicle depth: 1131.602604 # Seafloor depth: -1188.303238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.246599 meters # Minimum depth: 1172.193905 meters looking forward 100.000000 meters along route # Maximum depth: 1181.121376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.193905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.687339; longitude = -122.208966; duration = 440; initialDepth = 1112.754703; finalDepth = 1122.193905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.927471 # Actual altitude: 58.927471 # Commanded vehicle depth: 1122.193905 # Seafloor depth: -1181.121376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.246180 meters # Minimum depth: 1162.754703 meters looking forward 100.000000 meters along route # Maximum depth: 1174.024895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.754703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.688107; longitude = -122.208183; duration = 440; initialDepth = 1105.348218; finalDepth = 1112.754703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2721339999998 # Actual altitude: 59.2721339999998 # Commanded vehicle depth: 1112.754703 # Seafloor depth: -1172.026837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.065893 meters # Minimum depth: 1155.348218 meters looking forward 100.000000 meters along route # Maximum depth: 1162.723660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1105.348218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.688875; longitude = -122.207399; duration = 448; initialDepth = 1095.658485; finalDepth = 1105.348218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2721339999998 # Actual altitude: 59.2721339999998 # Commanded vehicle depth: 1105.348218 # Seafloor depth: -1162.723660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 108.425206 meters # Minimum depth: 1145.658485 meters looking forward 100.000000 meters along route # Maximum depth: 1155.904552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.658485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.689655; longitude = -122.206603; duration = 433; initialDepth = 1083.749850; finalDepth = 1095.658485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6801350000001 # Actual altitude: 59.6801350000001 # Commanded vehicle depth: 1095.658485 # Seafloor depth: -1155.338620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.491770 meters # Minimum depth: 1133.749850 meters looking forward 100.000000 meters along route # Maximum depth: 1144.994149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.749850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690410; longitude = -122.205833; duration = 401; initialDepth = 1072.407951; finalDepth = 1083.749850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2442990000002 # Actual altitude: 61.2442990000002 # Commanded vehicle depth: 1083.74985 # Seafloor depth: -1144.994149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.248461 meters # Minimum depth: 1122.407951 meters looking forward 100.000000 meters along route # Maximum depth: 1132.959056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.407951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691110; longitude = -122.205118; duration = 416; initialDepth = 1062.194591; finalDepth = 1072.407951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2442990000002 # Actual altitude: 61.2442990000002 # Commanded vehicle depth: 1072.407951 # Seafloor depth: -1132.760250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.667007 meters # Minimum depth: 1112.194591 meters looking forward 100.000000 meters along route # Maximum depth: 1121.453945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.194591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691836; longitude = -122.204378; duration = 418; initialDepth = 1050.077243; finalDepth = 1062.194591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3522990000001 # Actual altitude: 60.3522990000001 # Commanded vehicle depth: 1062.194591 # Seafloor depth: -1121.453945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.071775 meters # Minimum depth: 1100.077243 meters looking forward 100.000000 meters along route # Maximum depth: 1110.742469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.077243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692565; longitude = -122.203634; duration = 400; initialDepth = 1042.800365; finalDepth = 1050.077243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6652260000001 # Actual altitude: 60.6652260000001 # Commanded vehicle depth: 1050.077243 # Seafloor depth: -1110.742469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.243360 meters # Minimum depth: 1092.800365 meters looking forward 100.000000 meters along route # Maximum depth: 1099.778871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.800365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693262; longitude = -122.202923; duration = 440; initialDepth = 1033.623457; finalDepth = 1042.800365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6652260000001 # Actual altitude: 60.6652260000001 # Commanded vehicle depth: 1042.800365 # Seafloor depth: -1099.778871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 111.090332 meters # Minimum depth: 1083.623457 meters looking forward 100.000000 meters along route # Maximum depth: 1092.718338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.623457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694030; longitude = -122.202139; duration = 444; initialDepth = 1020.164374; finalDepth = 1033.623457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.094881 # Actual altitude: 59.094881 # Commanded vehicle depth: 1033.623457 # Seafloor depth: -1092.718338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.491070 meters # Minimum depth: 1070.164374 meters looking forward 100.000000 meters along route # Maximum depth: 1084.371892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.164374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694804; longitude = -122.201350; duration = 449; initialDepth = 1009.458392; finalDepth = 1020.164374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.383969 # Actual altitude: 63.383969 # Commanded vehicle depth: 1020.164374 # Seafloor depth: -1083.548343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.490634 meters # Minimum depth: 1059.458392 meters looking forward 100.000000 meters along route # Maximum depth: 1069.917768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.458392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695587; longitude = -122.200550; duration = 449; initialDepth = 1001.158192; finalDepth = 1009.458392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.383969 # Actual altitude: 63.383969 # Commanded vehicle depth: 1009.458392 # Seafloor depth: -1069.917768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.897204 meters # Minimum depth: 1051.158192 meters looking forward 100.000000 meters along route # Maximum depth: 1058.852463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.158192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696371; longitude = -122.199751; duration = 419; initialDepth = 992.762298; finalDepth = 1001.158192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.459376 # Actual altitude: 60.459376 # Commanded vehicle depth: 1001.158192 # Seafloor depth: -1058.852463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.012812 meters # Minimum depth: 1042.762298 meters looking forward 100.000000 meters along route # Maximum depth: 1049.636952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.762298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697101; longitude = -122.199005; duration = 416; initialDepth = 985.920006; finalDepth = 992.762298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6942709999998 # Actual altitude: 57.6942709999998 # Commanded vehicle depth: 992.762298 # Seafloor depth: -1049.636952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.720623 meters # Minimum depth: 1035.920006 meters looking forward 100.000000 meters along route # Maximum depth: 1041.867492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.920006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697826; longitude = -122.198266; duration = 402; initialDepth = 975.201612; finalDepth = 985.920006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.874654 # Actual altitude: 56.874654 # Commanded vehicle depth: 985.920006 # Seafloor depth: -1041.867492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.240481 meters # Minimum depth: 1025.201612 meters looking forward 100.000000 meters along route # Maximum depth: 1035.923727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.201612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698527; longitude = -122.197550; duration = 440; initialDepth = 967.171728; finalDepth = 975.201612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5654259999999 # Actual altitude: 60.5654259999999 # Commanded vehicle depth: 975.201612 # Seafloor depth: -1035.767038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.435976 meters # Minimum depth: 1017.171728 meters looking forward 100.000000 meters along route # Maximum depth: 1024.986030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.171728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699295; longitude = -122.196767; duration = 441; initialDepth = 959.591013; finalDepth = 967.171728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5654259999999 # Actual altitude: 60.5654259999999 # Commanded vehicle depth: 967.171728 # Seafloor depth: -1024.986030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.488135 meters # Minimum depth: 1009.591013 meters looking forward 100.000000 meters along route # Maximum depth: 1017.176177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.591013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700064; longitude = -122.195982; duration = 449; initialDepth = 952.405600; finalDepth = 959.591013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.814302 # Actual altitude: 57.814302 # Commanded vehicle depth: 959.591013 # Seafloor depth: -1017.176177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.487698 meters # Minimum depth: 1002.405600 meters looking forward 100.000000 meters along route # Maximum depth: 1009.261443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.405600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700847; longitude = -122.195183; duration = 449; initialDepth = 945.328170; finalDepth = 952.405600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5851640000001 # Actual altitude: 57.5851640000001 # Commanded vehicle depth: 952.4056 # Seafloor depth: -1009.261443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.545915 meters # Minimum depth: 995.328170 meters looking forward 100.000000 meters along route # Maximum depth: 1001.847721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.328170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701631; longitude = -122.194383; duration = 422; initialDepth = 941.820757; finalDepth = 945.328170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8558429999999 # Actual altitude: 56.8558429999999 # Commanded vehicle depth: 945.32817 # Seafloor depth: -1001.847721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.358649 meters # Minimum depth: 991.820757 meters looking forward 100.000000 meters along route # Maximum depth: 994.378028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.820757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702366; longitude = -122.193633; duration = 413; initialDepth = 935.097815; finalDepth = 941.820757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.519551 # Actual altitude: 56.519551 # Commanded vehicle depth: 941.820757 # Seafloor depth: -994.378028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.369439 meters # Minimum depth: 985.097815 meters looking forward 100.000000 meters along route # Maximum depth: 988.665481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.097815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703086; longitude = -122.192898; duration = 405; initialDepth = 932.052377; finalDepth = 935.097815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3816400000001 # Actual altitude: 53.3816400000001 # Commanded vehicle depth: 935.097815 # Seafloor depth: -988.479455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.237602 meters # Minimum depth: 982.052377 meters looking forward 100.000000 meters along route # Maximum depth: 987.179579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.052377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703792; longitude = -122.192178; duration = 440; initialDepth = 930.051314; finalDepth = 932.052377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3816400000001 # Actual altitude: 53.3816400000001 # Commanded vehicle depth: 932.052377 # Seafloor depth: -985.350247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.237181 meters # Minimum depth: 980.051314 meters looking forward 100.000000 meters along route # Maximum depth: 982.765435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.051314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704560; longitude = -122.191395; duration = 440; initialDepth = 919.626658; finalDepth = 930.051314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.29787 # Actual altitude: 53.29787 # Commanded vehicle depth: 930.051314 # Seafloor depth: -982.223783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.029673 meters # Minimum depth: 969.626658 meters looking forward 100.000000 meters along route # Maximum depth: 981.070074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.626658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705328; longitude = -122.190611; duration = 448; initialDepth = 896.539448; finalDepth = 919.626658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4122629999999 # Actual altitude: 60.4122629999999 # Commanded vehicle depth: 919.626658 # Seafloor depth: -980.038921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 108.443432 meters # Minimum depth: 946.539448 meters looking forward 100.000000 meters along route # Maximum depth: 969.211568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.539448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706108; longitude = -122.189815; duration = 433; initialDepth = 877.564560; finalDepth = 896.539448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6721200000001 # Actual altitude: 72.6721200000001 # Commanded vehicle depth: 896.539448 # Seafloor depth: -969.211568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.456494 meters # Minimum depth: 927.564560 meters looking forward 100.000000 meters along route # Maximum depth: 944.155335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.564560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706863; longitude = -122.189044; duration = 401; initialDepth = 867.052491; finalDepth = 877.564560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6721200000001 # Actual altitude: 72.6721200000001 # Commanded vehicle depth: 877.56456 # Seafloor depth: -944.155335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.267027 meters # Minimum depth: 917.052491 meters looking forward 100.000000 meters along route # Maximum depth: 927.029960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.052491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707563; longitude = -122.188330; duration = 417; initialDepth = 858.317822; finalDepth = 867.052491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.590775 # Actual altitude: 66.590775 # Commanded vehicle depth: 867.052491 # Seafloor depth: -927.029960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.631391 meters # Minimum depth: 908.317822 meters looking forward 100.000000 meters along route # Maximum depth: 916.525821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.317822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708289; longitude = -122.187589; duration = 418; initialDepth = 847.993503; finalDepth = 858.317822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9774689999999 # Actual altitude: 59.9774689999999 # Commanded vehicle depth: 858.317822 # Seafloor depth: -916.525821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.090683 meters # Minimum depth: 897.993503 meters looking forward 100.000000 meters along route # Maximum depth: 907.223101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.993503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709018; longitude = -122.186846; duration = 400; initialDepth = 844.774427; finalDepth = 847.993503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.229598 # Actual altitude: 59.229598 # Commanded vehicle depth: 847.993503 # Seafloor depth: -907.223101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 110.234364 meters # Minimum depth: 894.774427 meters looking forward 100.000000 meters along route # Maximum depth: 897.791520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.774427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709715; longitude = -122.186134; duration = 440; initialDepth = 839.058046; finalDepth = 844.774427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.229598 # Actual altitude: 59.229598 # Commanded vehicle depth: 844.774427 # Seafloor depth: -897.791520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 111.054192 meters # Minimum depth: 889.058046 meters looking forward 100.000000 meters along route # Maximum depth: 895.070771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.058046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710483; longitude = -122.185351; duration = 444; initialDepth = 832.341608; finalDepth = 839.058046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.012725 # Actual altitude: 56.012725 # Commanded vehicle depth: 839.058046 # Seafloor depth: -895.070771 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.481891 meters # Minimum depth: 882.341608 meters looking forward 100.000000 meters along route # Maximum depth: 894.508982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.341608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711256; longitude = -122.184562; duration = 449; initialDepth = 829.210630; finalDepth = 832.341608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.024628 # Actual altitude: 56.024628 # Commanded vehicle depth: 832.341608 # Seafloor depth: -888.366236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 112.481453 meters # Minimum depth: 879.210630 meters looking forward 100.000000 meters along route # Maximum depth: 890.932405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.210630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712040; longitude = -122.183762; duration = 449; initialDepth = 828.864259; finalDepth = 829.210630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.721775 # Actual altitude: 61.721775 # Commanded vehicle depth: 829.21063 # Seafloor depth: -890.932405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.915719 meters # Minimum depth: 878.864259 meters looking forward 100.000000 meters along route # Maximum depth: 884.638488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.864259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712823; longitude = -122.182963; duration = 419; initialDepth = 830.733985; finalDepth = 828.864259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.721775 # Actual altitude: 61.721775 # Commanded vehicle depth: 828.864259 # Seafloor depth: -879.713706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.977250 meters # Minimum depth: 880.733985 meters looking forward 100.000000 meters along route # Maximum depth: 886.429717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.733985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713554; longitude = -122.182217; duration = 415; initialDepth = 820.524147; finalDepth = 830.733985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.04251 # Actual altitude: 55.04251 # Commanded vehicle depth: 830.733985 # Seafloor depth: -885.776495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.739479 meters # Minimum depth: 870.524147 meters looking forward 100.000000 meters along route # Maximum depth: 880.933054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.524147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714278; longitude = -122.181478; duration = 402; initialDepth = 812.047712; finalDepth = 820.524147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.408907 # Actual altitude: 60.408907 # Commanded vehicle depth: 820.524147 # Seafloor depth: -880.933054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 108.151983 meters # Minimum depth: 862.047712 meters looking forward 100.000000 meters along route # Maximum depth: 870.273186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.047712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714980; longitude = -122.180762; duration = 432; initialDepth = 800.869703; finalDepth = 812.047712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.408907 # Actual altitude: 60.408907 # Commanded vehicle depth: 812.047712 # Seafloor depth: -870.273186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.772464 meters # Minimum depth: 850.869703 meters looking forward 100.000000 meters along route # Maximum depth: 860.758060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.869703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715733; longitude = -122.179993; duration = 407; initialDepth = 796.692702; finalDepth = 800.869703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.888357 # Actual altitude: 59.888357 # Commanded vehicle depth: 800.869703 # Seafloor depth: -860.758060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 102.156690 meters # Minimum depth: 846.692702 meters looking forward 100.000000 meters along route # Maximum depth: 850.547316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.692702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716442; longitude = -122.179270; duration = 408; # abortOnTimeout = True; initialDepth = 794.650743; finalDepth = 796.692702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.888357 # Actual altitude: 59.888357 # Commanded vehicle depth: 796.692702 # Seafloor depth: -850.209961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.196974 meters # Minimum depth: 844.650743 meters looking forward 100.000000 meters along route # Maximum depth: 846.626300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.650743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717076; longitude = -122.180099; duration = 436; initialDepth = 790.747058; finalDepth = 794.650743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.517259 # Actual altitude: 53.517259 # Commanded vehicle depth: 794.650743 # Seafloor depth: -846.626300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.145437 meters # Minimum depth: 840.747058 meters looking forward 100.000000 meters along route # Maximum depth: 845.195304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.747058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717754; longitude = -122.180986; duration = 404; initialDepth = 791.371094; finalDepth = 790.747058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4482459999999 # Actual altitude: 54.4482459999999 # Commanded vehicle depth: 790.747058 # Seafloor depth: -845.195304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 135.550486 meters # Minimum depth: 841.371094 meters looking forward 100.000000 meters along route # Maximum depth: 849.403391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.371094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718382; longitude = -122.181807; duration = 542; # abortOnTimeout = True; initialDepth = 799.764928; finalDepth = 791.371094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4482459999999 # Actual altitude: 54.4482459999999 # Commanded vehicle depth: 791.371094 # Seafloor depth: -841.371094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.158412 meters # Minimum depth: 849.764928 meters looking forward 100.000000 meters along route # Maximum depth: 856.674674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.764928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717442; longitude = -122.182777; duration = 404; initialDepth = 807.799637; finalDepth = 799.764928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 799.764928 # Seafloor depth: -849.764928 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.248896 meters # Minimum depth: 857.799637 meters looking forward 100.000000 meters along route # Maximum depth: 868.391444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.799637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716740; longitude = -122.183500; duration = 408; initialDepth = 816.670949; finalDepth = 807.799637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 807.799637 # Seafloor depth: -857.799637 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 109.527609 meters # Minimum depth: 866.670949 meters looking forward 100.000000 meters along route # Maximum depth: 872.694530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.670949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716031; longitude = -122.184232; duration = 438; initialDepth = 820.393639; finalDepth = 816.670949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 816.670949 # Seafloor depth: -866.670949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 111.000742 meters # Minimum depth: 870.393639 meters looking forward 100.000000 meters along route # Maximum depth: 876.220903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.393639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715272; longitude = -122.185015; duration = 444; initialDepth = 826.350879; finalDepth = 820.393639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.189435 # Actual altitude: 52.189435 # Commanded vehicle depth: 820.393639 # Seafloor depth: -872.583074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 108.055732 meters # Minimum depth: 876.350879 meters looking forward 100.000000 meters along route # Maximum depth: 878.875295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.350879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714502; longitude = -122.185809; duration = 432; initialDepth = 829.897225; finalDepth = 826.350879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.189435 # Actual altitude: 52.189435 # Commanded vehicle depth: 826.350879 # Seafloor depth: -876.350879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.751427 meters # Minimum depth: 879.897225 meters looking forward 100.000000 meters along route # Maximum depth: 890.037976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.897225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713753; longitude = -122.186582; duration = 407; initialDepth = 836.781945; finalDepth = 829.897225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 829.897225 # Seafloor depth: -879.897225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.659653 meters # Minimum depth: 886.781945 meters looking forward 100.000000 meters along route # Maximum depth: 891.204812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.781945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713047; longitude = -122.187310; duration = 406; initialDepth = 840.429042; finalDepth = 836.781945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 836.781945 # Seafloor depth: -886.781945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 109.529641 meters # Minimum depth: 890.429042 meters looking forward 100.000000 meters along route # Maximum depth: 896.335836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.429042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712342; longitude = -122.188037; duration = 438; initialDepth = 845.156269; finalDepth = 840.429042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 840.429042 # Seafloor depth: -890.429042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 111.593945 meters # Minimum depth: 895.156269 meters looking forward 100.000000 meters along route # Maximum depth: 902.620928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.156269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711582; longitude = -122.188820; duration = 446; initialDepth = 852.732471; finalDepth = 845.156269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 845.156269 # Seafloor depth: -895.156269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 107.466590 meters # Minimum depth: 902.732471 meters looking forward 100.000000 meters along route # Maximum depth: 911.535211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.732471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710809; longitude = -122.189619; duration = 429; initialDepth = 862.581423; finalDepth = 852.732471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 852.732471 # Seafloor depth: -902.732471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.344464 meters # Minimum depth: 912.581423 meters looking forward 100.000000 meters along route # Maximum depth: 920.423779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.581423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710063; longitude = -122.190387; duration = 409; initialDepth = 872.569714; finalDepth = 862.581423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 862.581423 # Seafloor depth: -912.581423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.070389 meters # Minimum depth: 922.569714 meters looking forward 100.000000 meters along route # Maximum depth: 935.470542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.569714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709354; longitude = -122.191119; duration = 404; initialDepth = 886.293490; finalDepth = 872.569714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 872.569714 # Seafloor depth: -922.569714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 109.531672 meters # Minimum depth: 936.293490 meters looking forward 100.000000 meters along route # Maximum depth: 960.134604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.293490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708653; longitude = -122.191842; duration = 438; initialDepth = 910.188441; finalDepth = 886.293490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 886.29349 # Seafloor depth: -936.293490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 112.187171 meters # Minimum depth: 960.188441 meters looking forward 100.000000 meters along route # Maximum depth: 975.877434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.188441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707893; longitude = -122.192626; duration = 448; initialDepth = 925.723654; finalDepth = 910.188441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 910.188441 # Seafloor depth: -960.188441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 112.977090 meters # Minimum depth: 975.723654 meters looking forward 100.000000 meters along route # Maximum depth: 977.055314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.723654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707115; longitude = -122.193428; duration = 451; initialDepth = 926.077058; finalDepth = 925.723654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2142699999999 # Actual altitude: 50.2142699999999 # Commanded vehicle depth: 925.723654 # Seafloor depth: -975.937924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.433264 meters # Minimum depth: 976.077058 meters looking forward 100.000000 meters along route # Maximum depth: 978.057381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.077058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706332; longitude = -122.194236; duration = 413; initialDepth = 928.507339; finalDepth = 926.077058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.479514 # Actual altitude: 50.479514 # Commanded vehicle depth: 926.077058 # Seafloor depth: -976.556572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.382511 meters # Minimum depth: 978.507339 meters looking forward 100.000000 meters along route # Maximum depth: 982.596473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.507339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705614; longitude = -122.194976; duration = 425; initialDepth = 931.881061; finalDepth = 928.507339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.479514 # Actual altitude: 50.479514 # Commanded vehicle depth: 928.507339 # Seafloor depth: -978.875459 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.195599 meters # Minimum depth: 981.881061 meters looking forward 100.000000 meters along route # Maximum depth: 987.256646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.881061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704877; longitude = -122.195737; duration = 408; initialDepth = 936.336243; finalDepth = 931.881061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.36812 # Actual altitude: 50.36812 # Commanded vehicle depth: 931.881061 # Seafloor depth: -982.088274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 149.901771 meters # Minimum depth: 986.336243 meters looking forward 100.000000 meters along route # Maximum depth: 990.949912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.336243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704168; longitude = -122.196468; duration = 599; # abortOnTimeout = True; initialDepth = 935.706117; finalDepth = 936.336243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.2072129999999 # Actual altitude: 50.2072129999999 # Commanded vehicle depth: 936.336243 # Seafloor depth: -986.336243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 134.862268 meters # Minimum depth: 985.706117 meters looking forward 100.000000 meters along route # Maximum depth: 992.942612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.706117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703161; longitude = -122.195349; duration = 539; # abortOnTimeout = True; initialDepth = 931.912442; finalDepth = 935.706117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2364950000001 # Actual altitude: 57.2364950000001 # Commanded vehicle depth: 935.706117 # Seafloor depth: -992.942612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.944712 meters # Minimum depth: 981.912442 meters looking forward 100.000000 meters along route # Maximum depth: 984.527548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.912442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704093; longitude = -122.194380; duration = 415; initialDepth = 929.300081; finalDepth = 931.912442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2364950000001 # Actual altitude: 57.2364950000001 # Commanded vehicle depth: 931.912442 # Seafloor depth: -984.527548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.031875 meters # Minimum depth: 979.300081 meters looking forward 100.000000 meters along route # Maximum depth: 982.270930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.300081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704812; longitude = -122.193633; duration = 436; initialDepth = 928.023357; finalDepth = 929.300081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.970849 # Actual altitude: 52.970849 # Commanded vehicle depth: 929.300081 # Seafloor depth: -982.270930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 110.849098 meters # Minimum depth: 978.023357 meters looking forward 100.000000 meters along route # Maximum depth: 979.549976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.023357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705565; longitude = -122.192850; duration = 443; initialDepth = 913.445676; finalDepth = 928.023357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.970849 # Actual altitude: 52.970849 # Commanded vehicle depth: 928.023357 # Seafloor depth: -979.391817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 113.338121 meters # Minimum depth: 963.445676 meters looking forward 100.000000 meters along route # Maximum depth: 977.871316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.445676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706332; longitude = -122.192053; duration = 453; initialDepth = 887.805904; finalDepth = 913.445676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4256399999999 # Actual altitude: 64.4256399999999 # Commanded vehicle depth: 913.445676 # Seafloor depth: -977.871316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.905905 meters # Minimum depth: 937.805904 meters looking forward 100.000000 meters along route # Maximum depth: 961.077671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.805904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707115; longitude = -122.191239; duration = 411; initialDepth = 871.703032; finalDepth = 887.805904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.271767 # Actual altitude: 73.271767 # Commanded vehicle depth: 887.805904 # Seafloor depth: -961.077671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.030207 meters # Minimum depth: 921.703032 meters looking forward 100.000000 meters along route # Maximum depth: 937.242575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.703032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707826; longitude = -122.190499; duration = 436; initialDepth = 863.111483; finalDepth = 871.703032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.271767 # Actual altitude: 73.271767 # Commanded vehicle depth: 871.703032 # Seafloor depth: -937.242575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.029790 meters # Minimum depth: 913.111483 meters looking forward 100.000000 meters along route # Maximum depth: 921.610807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.111483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708580; longitude = -122.189716; duration = 436; initialDepth = 854.117995; finalDepth = 863.111483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.539543 # Actual altitude: 65.539543 # Commanded vehicle depth: 863.111483 # Seafloor depth: -921.610807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.000316 meters # Minimum depth: 904.117995 meters looking forward 100.000000 meters along route # Maximum depth: 912.463315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.117995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709334; longitude = -122.188932; duration = 400; initialDepth = 848.287741; finalDepth = 854.117995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.499324 # Actual altitude: 58.499324 # Commanded vehicle depth: 854.117995 # Seafloor depth: -912.099614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.482474 meters # Minimum depth: 898.287741 meters looking forward 100.000000 meters along route # Maximum depth: 903.694518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.287741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710025; longitude = -122.188214; duration = 409; initialDepth = 840.614224; finalDepth = 848.287741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.981619 # Actual altitude: 57.981619 # Commanded vehicle depth: 848.287741 # Seafloor depth: -903.694518 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.028599 meters # Minimum depth: 890.614224 meters looking forward 100.000000 meters along route # Maximum depth: 898.038760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.614224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710734; longitude = -122.187477; duration = 436; initialDepth = 838.558336; finalDepth = 840.614224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.424536 # Actual altitude: 57.424536 # Commanded vehicle depth: 840.614224 # Seafloor depth: -898.038760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.028181 meters # Minimum depth: 888.558336 meters looking forward 100.000000 meters along route # Maximum depth: 893.430036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.558336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711487; longitude = -122.186694; duration = 436; initialDepth = 832.915757; finalDepth = 838.558336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.424536 # Actual altitude: 57.424536 # Commanded vehicle depth: 838.558336 # Seafloor depth: -890.431994 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.420747 meters # Minimum depth: 882.915757 meters looking forward 100.000000 meters along route # Maximum depth: 888.149507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.915757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712241; longitude = -122.185910; duration = 401; initialDepth = 829.107749; finalDepth = 832.915757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.23375 # Actual altitude: 55.23375 # Commanded vehicle depth: 832.915757 # Seafloor depth: -888.149507 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.059056 meters # Minimum depth: 879.107749 meters looking forward 100.000000 meters along route # Maximum depth: 884.489677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.107749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712935; longitude = -122.185189; duration = 408; initialDepth = 826.193387; finalDepth = 829.107749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.381928 # Actual altitude: 55.381928 # Commanded vehicle depth: 829.107749 # Seafloor depth: -884.489677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.026991 meters # Minimum depth: 876.193387 meters looking forward 100.000000 meters along route # Maximum depth: 879.106731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.193387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713641; longitude = -122.184455; duration = 436; initialDepth = 823.118099; finalDepth = 826.193387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.381928 # Actual altitude: 55.381928 # Commanded vehicle depth: 826.193387 # Seafloor depth: -879.106731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 112.725109 meters # Minimum depth: 873.118099 meters looking forward 100.000000 meters along route # Maximum depth: 877.222645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.118099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714394; longitude = -122.183672; duration = 450; initialDepth = 815.179922; finalDepth = 823.118099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.029179 # Actual altitude: 54.029179 # Commanded vehicle depth: 823.118099 # Seafloor depth: -877.147278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.327621 meters # Minimum depth: 865.179922 meters looking forward 100.000000 meters along route # Maximum depth: 872.705332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.179922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715174; longitude = -122.182862; duration = 421; initialDepth = 805.171773; finalDepth = 815.179922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.52541 # Actual altitude: 57.52541 # Commanded vehicle depth: 815.179922 # Seafloor depth: -872.705332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.147658 meters # Minimum depth: 855.171773 meters looking forward 100.000000 meters along route # Maximum depth: 865.096245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.171773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715902; longitude = -122.182105; duration = 420; initialDepth = 796.501713; finalDepth = 805.171773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9244719999999 # Actual altitude: 59.9244719999999 # Commanded vehicle depth: 805.171773 # Seafloor depth: -865.096245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.489608 meters # Minimum depth: 846.501713 meters looking forward 100.000000 meters along route # Maximum depth: 854.570108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.501713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716628; longitude = -122.181349; duration = 409; initialDepth = 795.999786; finalDepth = 796.501713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.9244719999999 # Actual altitude: 59.9244719999999 # Commanded vehicle depth: 796.501713 # Seafloor depth: -854.570108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 173.560205 meters # Minimum depth: 845.999786 meters looking forward 100.000000 meters along route # Maximum depth: 850.341500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.999786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717337; longitude = -122.180613; duration = 694; # abortOnTimeout = True; initialDepth = 799.735569; finalDepth = 795.999786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.068395 # Actual altitude: 58.068395 # Commanded vehicle depth: 795.999786 # Seafloor depth: -845.999786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.142061 meters # Minimum depth: 849.735569 meters looking forward 100.000000 meters along route # Maximum depth: 852.779716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 799.735569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717432; longitude = -122.182553; duration = 400; initialDepth = 801.616128; finalDepth = 799.735569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.053368 # Actual altitude: 51.053368 # Commanded vehicle depth: 799.735569 # Seafloor depth: -850.788937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.141973 meters # Minimum depth: 851.616128 meters looking forward 100.000000 meters along route # Maximum depth: 855.301119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.616128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717487; longitude = -122.183672; duration = 400; initialDepth = 803.143706; finalDepth = 801.616128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.053368 # Actual altitude: 51.053368 # Commanded vehicle depth: 801.616128 # Seafloor depth: -851.616128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.503778 meters # Minimum depth: 853.143706 meters looking forward 100.000000 meters along route # Maximum depth: 860.303145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.143706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717541; longitude = -122.184791; duration = 414; initialDepth = 810.136688; finalDepth = 803.143706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.8320970000001 # Actual altitude: 51.8320970000001 # Commanded vehicle depth: 803.143706 # Seafloor depth: -854.975803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 177.970707 meters # Minimum depth: 860.136688 meters looking forward 100.000000 meters along route # Maximum depth: 869.110956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.136688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717598; longitude = -122.185948; duration = 711; # abortOnTimeout = True; initialDepth = 819.110956; finalDepth = 810.136688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.8320970000001 # Actual altitude: 51.8320970000001 # Commanded vehicle depth: 810.136688 # Seafloor depth: -860.136688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 91.074906 meters # Minimum depth: 869.110956 meters looking forward 100.000000 meters along route # Maximum depth: 874.847926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.110956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715994; longitude = -122.185985; duration = 364; # abortOnTimeout = True; initialDepth = 846.047674; finalDepth = 819.110956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4437320000001 # Actual altitude: 50.4437320000001 # Commanded vehicle depth: 819.110956 # Seafloor depth: -869.554688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 103.509736 meters # Minimum depth: 871.047674 meters looking forward 100.000000 meters along route # Maximum depth: 880.111005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.047674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715174; longitude = -122.186020; duration = 414; initialDepth = 852.555064; finalDepth = 846.047674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 50.4437320000001 # Actual altitude: 50.4437320000001 # Commanded vehicle depth: 846.047674 # Seafloor depth: -871.304832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 95.214314 meters # Minimum depth: 877.555064 meters looking forward 100.000000 meters along route # Maximum depth: 880.207060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.555064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714241; longitude = -122.186060; duration = 380; # abortOnTimeout = True; initialDepth = 859.430338; finalDepth = 852.555064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.271108 # Actual altitude: 50 # Commanded vehicle depth: 852.555064 # Seafloor depth: -877.826172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 111.750953 meters # Minimum depth: 884.430338 meters looking forward 100.000000 meters along route # Maximum depth: 890.581298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.430338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713383; longitude = -122.186071; duration = 447; initialDepth = 860.825025; finalDepth = 859.430338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.271108 # Actual altitude: 50 # Commanded vehicle depth: 859.430338 # Seafloor depth: -884.430338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.664041 meters # Minimum depth: 885.825025 meters looking forward 100.000000 meters along route # Maximum depth: 890.219951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.825025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712375; longitude = -122.186084; duration = 430; initialDepth = 865.436523; finalDepth = 860.825025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 25 # Actual altitude: 50 # Commanded vehicle depth: 860.825025 # Seafloor depth: -885.825025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 161.410517 meters # Minimum depth: 890.436523 meters looking forward 100.000000 meters along route # Maximum depth: 897.138000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.436523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711405; longitude = -122.186097; duration = 645; # abortOnTimeout = True; initialDepth = 871.319751; finalDepth = 865.436523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 25 # Actual altitude: 50 # Commanded vehicle depth: 865.436523 # Seafloor depth: -890.436523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 115.945999 meters # Minimum depth: 896.319751 meters looking forward 100.000000 meters along route # Maximum depth: 905.736316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 871.319751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709950; longitude = -122.186097; duration = 463; # abortOnTimeout = True; initialDepth = 856.835766; finalDepth = 871.319751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.894986 # Actual altitude: 50 # Commanded vehicle depth: 871.319751 # Seafloor depth: -897.214737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 107.701001 meters # Minimum depth: 906.835766 meters looking forward 100.000000 meters along route # Maximum depth: 913.685395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.835766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708906; longitude = -122.186155; duration = 430; initialDepth = 855.080144; finalDepth = 856.835766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 856.835766 # Seafloor depth: -906.835766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 121.295377 meters # Minimum depth: 905.080144 meters looking forward 100.000000 meters along route # Maximum depth: 914.242035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.080144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707936; longitude = -122.186209; duration = 485; # abortOnTimeout = True; initialDepth = 849.733695; finalDepth = 855.080144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.161891 # Actual altitude: 59.161891 # Commanded vehicle depth: 855.080144 # Seafloor depth: -914.242035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.182220 meters # Minimum depth: 899.733695 meters looking forward 100.000000 meters along route # Maximum depth: 905.112073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.733695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708682; longitude = -122.185216; duration = 436; initialDepth = 839.866635; finalDepth = 849.733695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.161891 # Actual altitude: 59.161891 # Commanded vehicle depth: 849.733695 # Seafloor depth: -904.735484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.181734 meters # Minimum depth: 889.866635 meters looking forward 100.000000 meters along route # Maximum depth: 899.495188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.866635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709354; longitude = -122.184323; duration = 436; initialDepth = 838.662998; finalDepth = 839.866635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.628553 # Actual altitude: 59.628553 # Commanded vehicle depth: 839.866635 # Seafloor depth: -899.495188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.181247 meters # Minimum depth: 888.662998 meters looking forward 100.000000 meters along route # Maximum depth: 895.753564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.662998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710025; longitude = -122.183429; duration = 436; initialDepth = 833.772588; finalDepth = 838.662998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.628553 # Actual altitude: 59.628553 # Commanded vehicle depth: 838.662998 # Seafloor depth: -894.672919 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.180761 meters # Minimum depth: 883.772588 meters looking forward 100.000000 meters along route # Maximum depth: 892.809518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.772588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710697; longitude = -122.182535; duration = 436; initialDepth = 833.858892; finalDepth = 833.772588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.009921 # Actual altitude: 56.009921 # Commanded vehicle depth: 833.772588 # Seafloor depth: -889.599552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 109.180275 meters # Minimum depth: 883.858892 meters looking forward 100.000000 meters along route # Maximum depth: 892.495186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.858892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711368; longitude = -122.181642; duration = 436; initialDepth = 837.404075; finalDepth = 833.858892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.826964 # Actual altitude: 55.826964 # Commanded vehicle depth: 833.858892 # Seafloor depth: -883.858892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.127389 meters # Minimum depth: 887.404075 meters looking forward 100.000000 meters along route # Maximum depth: 893.152167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.404075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712040; longitude = -122.180748; duration = 412; initialDepth = 833.487898; finalDepth = 837.404075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.180892 # Actual altitude: 55.180892 # Commanded vehicle depth: 837.404075 # Seafloor depth: -892.584967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 86.646467 meters # Minimum depth: 883.487898 meters looking forward 100.000000 meters along route # Maximum depth: 893.152167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.487898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712674; longitude = -122.179904; duration = 346; # abortOnTimeout = True; initialDepth = 829.943403; finalDepth = 833.487898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.345217 # Actual altitude: 59.345217 # Commanded vehicle depth: 833.487898 # Seafloor depth: -892.833115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.980969 meters # Minimum depth: 879.943403 meters looking forward 100.000000 meters along route # Maximum depth: 886.891031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.943403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712689; longitude = -122.180874; duration = 439; initialDepth = 829.438337; finalDepth = 829.943403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.345217 # Actual altitude: 59.345217 # Commanded vehicle depth: 829.943403 # Seafloor depth: -885.214354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.980919 meters # Minimum depth: 879.438337 meters looking forward 100.000000 meters along route # Maximum depth: 884.481416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.438337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712708; longitude = -122.182105; duration = 439; initialDepth = 826.970963; finalDepth = 829.438337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.270951 # Actual altitude: 55.270951 # Commanded vehicle depth: 829.438337 # Seafloor depth: -882.913906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.980871 meters # Minimum depth: 876.970963 meters looking forward 100.000000 meters along route # Maximum depth: 882.914831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.970963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712728; longitude = -122.183336; duration = 439; initialDepth = 833.035533; finalDepth = 826.970963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.475569 # Actual altitude: 53.475569 # Commanded vehicle depth: 826.970963 # Seafloor depth: -877.903804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.980821 meters # Minimum depth: 883.035533 meters looking forward 100.000000 meters along route # Maximum depth: 884.911765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.035533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712747; longitude = -122.184567; duration = 439; initialDepth = 834.315186; finalDepth = 833.035533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9328410000001 # Actual altitude: 50.9328410000001 # Commanded vehicle depth: 833.035533 # Seafloor depth: -883.035533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.980772 meters # Minimum depth: 884.315186 meters looking forward 100.000000 meters along route # Maximum depth: 892.479917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.315186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712766; longitude = -122.185799; duration = 439; initialDepth = 834.151530; finalDepth = 834.315186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 834.315186 # Seafloor depth: -884.315186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.980723 meters # Minimum depth: 884.151530 meters looking forward 100.000000 meters along route # Maximum depth: 895.112824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.151530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712785; longitude = -122.187030; duration = 439; initialDepth = 837.964498; finalDepth = 834.151530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.436198 # Actual altitude: 55.436198 # Commanded vehicle depth: 834.15153 # Seafloor depth: -889.587728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.976479 meters # Minimum depth: 887.964498 meters looking forward 100.000000 meters along route # Maximum depth: 891.497176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.964498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712805; longitude = -122.188261; duration = 423; initialDepth = 838.762557; finalDepth = 837.964498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.436198 # Actual altitude: 55.436198 # Commanded vehicle depth: 837.964498 # Seafloor depth: -888.157563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.986583 meters # Minimum depth: 888.762557 meters looking forward 100.000000 meters along route # Maximum depth: 893.964504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.762557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712823; longitude = -122.189447; duration = 415; initialDepth = 843.513966; finalDepth = 838.762557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4187029999999 # Actual altitude: 50.4187029999999 # Commanded vehicle depth: 838.762557 # Seafloor depth: -889.181260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.648809 meters # Minimum depth: 893.513966 meters looking forward 100.000000 meters along route # Maximum depth: 898.033557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.513966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712841; longitude = -122.190611; duration = 426; initialDepth = 841.388856; finalDepth = 843.513966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.4187029999999 # Actual altitude: 50.4187029999999 # Commanded vehicle depth: 843.513966 # Seafloor depth: -893.513966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 136.646126 meters # Minimum depth: 891.388856 meters looking forward 100.000000 meters along route # Maximum depth: 898.044309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.388856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712860; longitude = -122.191805; duration = 546; # abortOnTimeout = True; initialDepth = 838.794369; finalDepth = 841.388856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.842269 # Actual altitude: 55.842269 # Commanded vehicle depth: 841.388856 # Seafloor depth: -897.231125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.982742 meters # Minimum depth: 888.794369 meters looking forward 100.000000 meters along route # Maximum depth: 893.959680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.794369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712835; longitude = -122.190275; duration = 439; initialDepth = 834.130323; finalDepth = 838.794369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.842269 # Actual altitude: 55.842269 # Commanded vehicle depth: 838.794369 # Seafloor depth: -893.679521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.982791 meters # Minimum depth: 884.130323 meters looking forward 100.000000 meters along route # Maximum depth: 891.447023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.130323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712815; longitude = -122.189044; duration = 439; initialDepth = 836.242436; finalDepth = 834.130323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.094155 # Actual altitude: 56.094155 # Commanded vehicle depth: 834.130323 # Seafloor depth: -890.224478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.982842 meters # Minimum depth: 886.242436 meters looking forward 100.000000 meters along route # Maximum depth: 894.939028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.242436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712795; longitude = -122.187813; duration = 439; initialDepth = 833.563251; finalDepth = 836.242436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.094155 # Actual altitude: 56.094155 # Commanded vehicle depth: 836.242436 # Seafloor depth: -886.242436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.982893 meters # Minimum depth: 883.563251 meters looking forward 100.000000 meters along route # Maximum depth: 892.238727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.563251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712774; longitude = -122.186582; duration = 439; initialDepth = 826.866930; finalDepth = 833.563251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.851151 # Actual altitude: 53.851151 # Commanded vehicle depth: 833.563251 # Seafloor depth: -887.414402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.982943 meters # Minimum depth: 876.866930 meters looking forward 100.000000 meters along route # Maximum depth: 885.324426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.866930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712754; longitude = -122.185351; duration = 439; initialDepth = 827.747132; finalDepth = 826.866930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.474969 # Actual altitude: 57.474969 # Commanded vehicle depth: 826.86693 # Seafloor depth: -884.341899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.982993 meters # Minimum depth: 877.747132 meters looking forward 100.000000 meters along route # Maximum depth: 883.063283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.747132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712734; longitude = -122.184120; duration = 439; initialDepth = 829.330834; finalDepth = 827.747132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.474969 # Actual altitude: 57.474969 # Commanded vehicle depth: 827.747132 # Seafloor depth: -878.457621 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.983044 meters # Minimum depth: 879.330834 meters looking forward 100.000000 meters along route # Maximum depth: 884.423127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.330834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712714; longitude = -122.182889; duration = 439; initialDepth = 830.155905; finalDepth = 829.330834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.65602 # Actual altitude: 52.65602 # Commanded vehicle depth: 829.330834 # Seafloor depth: -881.986854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 106.610228 meters # Minimum depth: 880.155905 meters looking forward 100.000000 meters along route # Maximum depth: 889.520084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.155905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712694; longitude = -122.181657; duration = 426; initialDepth = 836.388642; finalDepth = 830.155905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.65602 # Actual altitude: 52.65602 # Commanded vehicle depth: 830.155905 # Seafloor depth: -881.625890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 78.668677 meters # Minimum depth: 886.388642 meters looking forward 100.000000 meters along route # Maximum depth: 890.410141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.388642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712674; longitude = -122.180464; duration = 314; # abortOnTimeout = True; initialDepth = 830.365308; finalDepth = 836.388642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0214989999999 # Actual altitude: 54.0214989999999 # Commanded vehicle depth: 836.388642 # Seafloor depth: -890.410141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.139760 meters # Minimum depth: 880.365308 meters looking forward 100.000000 meters along route # Maximum depth: 888.138239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.365308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713166; longitude = -122.181098; duration = 444; initialDepth = 828.188374; finalDepth = 830.365308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.772931 # Actual altitude: 57.772931 # Commanded vehicle depth: 830.365308 # Seafloor depth: -888.138239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.205295 meters # Minimum depth: 878.188374 meters looking forward 100.000000 meters along route # Maximum depth: 881.232685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.188374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713862; longitude = -122.181993; duration = 408; initialDepth = 823.637681; finalDepth = 828.188374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.772931 # Actual altitude: 57.772931 # Commanded vehicle depth: 828.188374 # Seafloor depth: -881.232685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.274174 meters # Minimum depth: 873.637681 meters looking forward 100.000000 meters along route # Maximum depth: 877.775570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.637681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714502; longitude = -122.182817; duration = 429; initialDepth = 819.576018; finalDepth = 823.637681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.137889 # Actual altitude: 54.137889 # Commanded vehicle depth: 823.637681 # Seafloor depth: -877.775570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 110.044397 meters # Minimum depth: 869.576018 meters looking forward 100.000000 meters along route # Maximum depth: 874.242648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.576018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715174; longitude = -122.183681; duration = 440; initialDepth = 815.131632; finalDepth = 819.576018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.480849 # Actual altitude: 54.480849 # Commanded vehicle depth: 819.576018 # Seafloor depth: -874.056867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 111.137711 meters # Minimum depth: 865.131632 meters looking forward 100.000000 meters along route # Maximum depth: 869.761661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.131632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715862; longitude = -122.184567; duration = 444; initialDepth = 812.741959; finalDepth = 815.131632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.630029 # Actual altitude: 54.630029 # Commanded vehicle depth: 815.131632 # Seafloor depth: -869.761661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.530405 meters # Minimum depth: 862.741959 meters looking forward 100.000000 meters along route # Maximum depth: 866.313106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.741959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716558; longitude = -122.185463; duration = 426; initialDepth = 812.462997; finalDepth = 812.741959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.630029 # Actual altitude: 54.630029 # Commanded vehicle depth: 812.741959 # Seafloor depth: -866.313106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 103.435771 meters # Minimum depth: 862.462997 meters looking forward 100.000000 meters along route # Maximum depth: 870.867365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.462997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717225; longitude = -122.186321; duration = 413; # abortOnTimeout = True; initialDepth = 817.673638; finalDepth = 812.462997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.571147 # Actual altitude: 53.571147 # Commanded vehicle depth: 812.462997 # Seafloor depth: -862.462997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 111.760596 meters # Minimum depth: 867.673638 meters looking forward 100.000000 meters along route # Maximum depth: 874.494818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.673638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716293; longitude = -122.186340; duration = 447; initialDepth = 821.796769; finalDepth = 817.673638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2924800000001 # Actual altitude: 51.2924800000001 # Commanded vehicle depth: 817.673638 # Seafloor depth: -868.966118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.760578 meters # Minimum depth: 871.796769 meters looking forward 100.000000 meters along route # Maximum depth: 879.706870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.796769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715285; longitude = -122.186361; duration = 447; initialDepth = 827.815853; finalDepth = 821.796769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2924800000001 # Actual altitude: 51.2924800000001 # Commanded vehicle depth: 821.796769 # Seafloor depth: -871.796769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.760559 meters # Minimum depth: 877.815853 meters looking forward 100.000000 meters along route # Maximum depth: 885.345080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.815853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714278; longitude = -122.186382; duration = 447; initialDepth = 835.025654; finalDepth = 827.815853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 827.815853 # Seafloor depth: -877.815853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.760540 meters # Minimum depth: 885.025654 meters looking forward 100.000000 meters along route # Maximum depth: 892.165990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.025654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713271; longitude = -122.186403; duration = 447; initialDepth = 838.744762; finalDepth = 835.025654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 835.025654 # Seafloor depth: -885.025654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.760521 meters # Minimum depth: 888.744762 meters looking forward 100.000000 meters along route # Maximum depth: 893.371785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.744762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712264; longitude = -122.186425; duration = 447; initialDepth = 843.186256; finalDepth = 838.744762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.627023 # Actual altitude: 54.627023 # Commanded vehicle depth: 838.744762 # Seafloor depth: -893.371785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.760503 meters # Minimum depth: 893.186256 meters looking forward 100.000000 meters along route # Maximum depth: 899.675786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.186256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711256; longitude = -122.186446; duration = 447; initialDepth = 847.861744; finalDepth = 843.186256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.627023 # Actual altitude: 54.627023 # Commanded vehicle depth: 843.186256 # Seafloor depth: -893.186256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 111.760484 meters # Minimum depth: 897.861744 meters looking forward 100.000000 meters along route # Maximum depth: 903.187594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.861744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710249; longitude = -122.186467; duration = 447; initialDepth = 853.001942; finalDepth = 847.861744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.856689 # Actual altitude: 50.856689 # Commanded vehicle depth: 847.861744 # Seafloor depth: -898.718433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.477268 meters # Minimum depth: 903.001942 meters looking forward 100.000000 meters along route # Maximum depth: 912.392973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.001942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709242; longitude = -122.186488; duration = 413; initialDepth = 858.929986; finalDepth = 853.001942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.856689 # Actual altitude: 50.856689 # Commanded vehicle depth: 853.001942 # Seafloor depth: -903.001942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 59.934126 meters # Minimum depth: 908.929986 meters looking forward 100.000000 meters along route # Maximum depth: 912.510370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.929986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708309; longitude = -122.186507; duration = 239; # abortOnTimeout = True; initialDepth = 852.989118; finalDepth = 858.929986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.5487430000001 # Actual altitude: 53.5487430000001 # Commanded vehicle depth: 858.929986 # Seafloor depth: -912.478729 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 103.477436 meters # Minimum depth: 902.989118 meters looking forward 100.000000 meters along route # Maximum depth: 908.913361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.989118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708309; longitude = -122.185836; duration = 413; # abortOnTimeout = True; initialDepth = 846.221046; finalDepth = 852.989118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.924243 # Actual altitude: 55.924243 # Commanded vehicle depth: 852.989118 # Seafloor depth: -908.913361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.760666 meters # Minimum depth: 896.221046 meters looking forward 100.000000 meters along route # Maximum depth: 903.346133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 846.221046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709242; longitude = -122.185816; duration = 447; initialDepth = 842.184863; finalDepth = 846.221046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.125087 # Actual altitude: 57.125087 # Commanded vehicle depth: 846.221046 # Seafloor depth: -903.346133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.760685 meters # Minimum depth: 892.184863 meters looking forward 100.000000 meters along route # Maximum depth: 898.932413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.184863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710249; longitude = -122.185795; duration = 447; initialDepth = 835.541544; finalDepth = 842.184863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.125087 # Actual altitude: 57.125087 # Commanded vehicle depth: 842.184863 # Seafloor depth: -895.081705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.760703 meters # Minimum depth: 885.541544 meters looking forward 100.000000 meters along route # Maximum depth: 892.987934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.541544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711256; longitude = -122.185774; duration = 447; initialDepth = 832.645481; finalDepth = 835.541544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.44639 # Actual altitude: 57.44639 # Commanded vehicle depth: 835.541544 # Seafloor depth: -892.987934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.760722 meters # Minimum depth: 882.645481 meters looking forward 100.000000 meters along route # Maximum depth: 888.811612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.645481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712264; longitude = -122.185753; duration = 447; initialDepth = 826.655934; finalDepth = 832.645481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.44639 # Actual altitude: 57.44639 # Commanded vehicle depth: 832.645481 # Seafloor depth: -888.811612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.760741 meters # Minimum depth: 876.655934 meters looking forward 100.000000 meters along route # Maximum depth: 883.072576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.655934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713271; longitude = -122.185732; duration = 447; initialDepth = 823.102745; finalDepth = 826.655934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.416642 # Actual altitude: 56.416642 # Commanded vehicle depth: 826.655934 # Seafloor depth: -883.072576 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.760759 meters # Minimum depth: 873.102745 meters looking forward 100.000000 meters along route # Maximum depth: 877.755766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.102745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714278; longitude = -122.185711; duration = 447; initialDepth = 818.809439; finalDepth = 823.102745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.416642 # Actual altitude: 56.416642 # Commanded vehicle depth: 823.102745 # Seafloor depth: -877.458092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 111.760779 meters # Minimum depth: 868.809439 meters looking forward 100.000000 meters along route # Maximum depth: 873.335649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.809439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715285; longitude = -122.185690; duration = 447; initialDepth = 811.123257; finalDepth = 818.809439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3553469999999 # Actual altitude: 54.3553469999999 # Commanded vehicle depth: 818.809439 # Seafloor depth: -871.442876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.435939 meters # Minimum depth: 861.123257 meters looking forward 100.000000 meters along route # Maximum depth: 872.875102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.123257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716293; longitude = -122.185669; duration = 413; initialDepth = 810.253830; finalDepth = 811.123257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.751845 # Actual altitude: 61.751845 # Commanded vehicle depth: 811.123257 # Seafloor depth: -872.875102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 30.008256 meters # Minimum depth: 860.253830 meters looking forward 100.000000 meters along route # Maximum depth: 865.782376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.253830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717225; longitude = -122.185649; duration = 120; # abortOnTimeout = True; initialDepth = 812.094727; finalDepth = 810.253830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.751845 # Actual altitude: 61.751845 # Commanded vehicle depth: 810.25383 # Seafloor depth: -860.253830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 103.435934 meters # Minimum depth: 862.094727 meters looking forward 100.000000 meters along route # Maximum depth: 869.046885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.094727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717225; longitude = -122.185985; duration = 413; # abortOnTimeout = True; initialDepth = 816.928154; finalDepth = 812.094727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 812.094727 # Seafloor depth: -862.094727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.760772 meters # Minimum depth: 866.928154 meters looking forward 100.000000 meters along route # Maximum depth: 872.555779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.928154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716293; longitude = -122.186005; duration = 447; initialDepth = 821.190875; finalDepth = 816.928154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 816.928154 # Seafloor depth: -866.928154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.760754 meters # Minimum depth: 871.190875 meters looking forward 100.000000 meters along route # Maximum depth: 880.232549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.190875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715285; longitude = -122.186026; duration = 447; initialDepth = 827.466522; finalDepth = 821.190875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.678345 # Actual altitude: 53.678345 # Commanded vehicle depth: 821.190875 # Seafloor depth: -874.869220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.760734 meters # Minimum depth: 877.466522 meters looking forward 100.000000 meters along route # Maximum depth: 884.344552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.466522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714278; longitude = -122.186047; duration = 447; initialDepth = 834.886794; finalDepth = 827.466522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.678345 # Actual altitude: 53.678345 # Commanded vehicle depth: 827.466522 # Seafloor depth: -877.827113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.760716 meters # Minimum depth: 884.886794 meters looking forward 100.000000 meters along route # Maximum depth: 890.568782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.886794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713271; longitude = -122.186068; duration = 447; initialDepth = 836.301670; finalDepth = 834.886794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.360591 # Actual altitude: 50.360591 # Commanded vehicle depth: 834.886794 # Seafloor depth: -885.096777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.760698 meters # Minimum depth: 886.301670 meters looking forward 100.000000 meters along route # Maximum depth: 890.917896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.301670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712264; longitude = -122.186089; duration = 447; initialDepth = 839.073161; finalDepth = 836.301670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8765540000001 # Actual altitude: 50.8765540000001 # Commanded vehicle depth: 836.30167 # Seafloor depth: -887.178224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.760678 meters # Minimum depth: 889.073161 meters looking forward 100.000000 meters along route # Maximum depth: 894.889345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.073161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711256; longitude = -122.186110; duration = 447; initialDepth = 845.086830; finalDepth = 839.073161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3690859999999 # Actual altitude: 52.3690859999999 # Commanded vehicle depth: 839.073161 # Seafloor depth: -891.442247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 111.760660 meters # Minimum depth: 895.086830 meters looking forward 100.000000 meters along route # Maximum depth: 902.403910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.086830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710249; longitude = -122.186131; duration = 447; initialDepth = 853.226938; finalDepth = 845.086830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3690859999999 # Actual altitude: 52.3690859999999 # Commanded vehicle depth: 845.08683 # Seafloor depth: -895.086830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.477431 meters # Minimum depth: 903.226938 meters looking forward 100.000000 meters along route # Maximum depth: 910.117605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.226938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709242; longitude = -122.186152; duration = 413; initialDepth = 845.898339; finalDepth = 853.226938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.080931 # Actual altitude: 52.080931 # Commanded vehicle depth: 853.226938 # Seafloor depth: -905.307869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 167.343067 meters # Minimum depth: 895.898339 meters looking forward 100.000000 meters along route # Maximum depth: 910.898193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.898339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708309; longitude = -122.186172; duration = 669; # abortOnTimeout = True; initialDepth = 843.558703; finalDepth = 845.898339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.999854 # Actual altitude: 64.999854 # Commanded vehicle depth: 845.898339 # Seafloor depth: -910.898193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.000998 meters # Minimum depth: 893.558703 meters looking forward 100.000000 meters along route # Maximum depth: 897.273355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.558703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709817; longitude = -122.186134; duration = 440; initialDepth = 836.504513; finalDepth = 843.558703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.999854 # Actual altitude: 64.999854 # Commanded vehicle depth: 843.558703 # Seafloor depth: -896.087254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 111.767423 meters # Minimum depth: 886.504513 meters looking forward 100.000000 meters along route # Maximum depth: 894.714299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.504513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710809; longitude = -122.186109; duration = 447; initialDepth = 835.264638; finalDepth = 836.504513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.219119 # Actual altitude: 57.219119 # Commanded vehicle depth: 836.504513 # Seafloor depth: -893.723632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 107.645514 meters # Minimum depth: 885.264638 meters looking forward 100.000000 meters along route # Maximum depth: 890.531586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.264638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711816; longitude = -122.186084; duration = 430; initialDepth = 827.361829; finalDepth = 835.264638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.219119 # Actual altitude: 57.219119 # Commanded vehicle depth: 835.264638 # Seafloor depth: -886.387892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 165.545562 meters # Minimum depth: 877.361829 meters looking forward 100.000000 meters along route # Maximum depth: 888.076752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.361829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712786; longitude = -122.186060; duration = 662; # abortOnTimeout = True; initialDepth = 820.825169; finalDepth = 827.361829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7149230000001 # Actual altitude: 60.7149230000001 # Commanded vehicle depth: 827.361829 # Seafloor depth: -888.076752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.755162 meters # Minimum depth: 870.825169 meters looking forward 100.000000 meters along route # Maximum depth: 880.433298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.825169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714278; longitude = -122.186035; duration = 447; initialDepth = 818.188335; finalDepth = 820.825169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7149230000001 # Actual altitude: 60.7149230000001 # Commanded vehicle depth: 820.825169 # Seafloor depth: -877.810337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 18.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 111.755180 meters # Minimum depth: 868.188335 meters looking forward 100.000000 meters along route # Maximum depth: 874.888804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 818.188335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715285; longitude = -122.186018; duration = 447; initialDepth = 812.841006; finalDepth = 818.188335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.985168 # Actual altitude: 56.985168 # Commanded vehicle depth: 818.188335 # Seafloor depth: -874.888804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.430759 meters # Minimum depth: 862.841006 meters looking forward 100.000000 meters along route # Maximum depth: 868.944576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.841006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716293; longitude = -122.186001; duration = 413; initialDepth = 812.094727; finalDepth = 812.841006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.700469 # Actual altitude: 56.700469 # Commanded vehicle depth: 812.841006 # Seafloor depth: -866.969551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 103.435933 meters # Minimum depth: 862.094727 meters looking forward 100.000000 meters along route # Maximum depth: 869.046885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.094727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717225; longitude = -122.185985; duration = 413; # abortOnTimeout = True; initialDepth = 816.928154; finalDepth = 812.094727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.128545 # Actual altitude: 54.128545 # Commanded vehicle depth: 812.094727 # Seafloor depth: -862.094727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 111.760772 meters # Minimum depth: 866.928154 meters looking forward 100.000000 meters along route # Maximum depth: 872.555779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 816.928154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716293; longitude = -122.186005; duration = 447; initialDepth = 821.190875; finalDepth = 816.928154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 816.928154 # Seafloor depth: -866.928154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.760754 meters # Minimum depth: 871.190875 meters looking forward 100.000000 meters along route # Maximum depth: 880.232549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 821.190875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715285; longitude = -122.186026; duration = 447; initialDepth = 827.466522; finalDepth = 821.190875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.678345 # Actual altitude: 53.678345 # Commanded vehicle depth: 821.190875 # Seafloor depth: -874.869220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.760734 meters # Minimum depth: 877.466522 meters looking forward 100.000000 meters along route # Maximum depth: 884.344552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 827.466522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714278; longitude = -122.186047; duration = 447; initialDepth = 834.886794; finalDepth = 827.466522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.678345 # Actual altitude: 53.678345 # Commanded vehicle depth: 827.466522 # Seafloor depth: -877.827113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.760716 meters # Minimum depth: 884.886794 meters looking forward 100.000000 meters along route # Maximum depth: 890.568782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 834.886794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713271; longitude = -122.186068; duration = 447; initialDepth = 836.301670; finalDepth = 834.886794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.360591 # Actual altitude: 50.360591 # Commanded vehicle depth: 834.886794 # Seafloor depth: -885.096777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.760698 meters # Minimum depth: 886.301670 meters looking forward 100.000000 meters along route # Maximum depth: 890.917896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 836.301670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712264; longitude = -122.186089; duration = 447; initialDepth = 839.073161; finalDepth = 836.301670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8765540000001 # Actual altitude: 50.8765540000001 # Commanded vehicle depth: 836.30167 # Seafloor depth: -887.178224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.760678 meters # Minimum depth: 889.073161 meters looking forward 100.000000 meters along route # Maximum depth: 894.889345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 839.073161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711256; longitude = -122.186110; duration = 447; initialDepth = 845.086830; finalDepth = 839.073161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3690859999999 # Actual altitude: 52.3690859999999 # Commanded vehicle depth: 839.073161 # Seafloor depth: -891.442247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 111.760660 meters # Minimum depth: 895.086830 meters looking forward 100.000000 meters along route # Maximum depth: 902.403910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 845.086830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710249; longitude = -122.186131; duration = 447; initialDepth = 853.226938; finalDepth = 845.086830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3690859999999 # Actual altitude: 52.3690859999999 # Commanded vehicle depth: 845.08683 # Seafloor depth: -895.086830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.477431 meters # Minimum depth: 903.226938 meters looking forward 100.000000 meters along route # Maximum depth: 910.117605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 853.226938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709242; longitude = -122.186152; duration = 413; initialDepth = 845.898339; finalDepth = 853.226938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.080931 # Actual altitude: 52.080931 # Commanded vehicle depth: 853.226938 # Seafloor depth: -905.307869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 167.343068 meters # Minimum depth: 895.898339 meters looking forward 100.000000 meters along route # Maximum depth: 910.898193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 845.898339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708309; longitude = -122.186172; duration = 669; # abortOnTimeout = True; initialDepth = 843.558703; finalDepth = 845.898339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.999854 # Actual altitude: 64.999854 # Commanded vehicle depth: 845.898339 # Seafloor depth: -910.898193 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.000997 meters # Minimum depth: 893.558703 meters looking forward 100.000000 meters along route # Maximum depth: 897.273355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 843.558703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709817; longitude = -122.186134; duration = 440; initialDepth = 836.504513; finalDepth = 843.558703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.999854 # Actual altitude: 64.999854 # Commanded vehicle depth: 843.558703 # Seafloor depth: -896.087254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 19.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 111.767423 meters # Minimum depth: 886.504513 meters looking forward 100.000000 meters along route # Maximum depth: 894.714299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 836.504513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710809; longitude = -122.186109; duration = 447; initialDepth = 835.264638; finalDepth = 836.504513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.219119 # Actual altitude: 57.219119 # Commanded vehicle depth: 836.504513 # Seafloor depth: -893.723632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.645514 meters # Minimum depth: 885.264638 meters looking forward 100.000000 meters along route # Maximum depth: 890.531586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1254.724793 meters # Behavior depth of 835.264638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711816; longitude = -122.186084; duration = 430; initialDepth = 835.264638; finalDepth = 835.264638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.219119 # Actual altitude: 57.219119 # Commanded vehicle depth: 835.264638 # Seafloor depth: -886.387892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Bottom_Detect_Filter_Min_Range = 17.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 1 # Commanded altitude: 52.8121140000001 # Sonar parameter altitude: 52.8121140000001 # Commanded vehicle depth: 835.264638 # Seafloor depth: -888.076752 # behavior reson { duration = 6; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000066; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 107.645514 meters # Minimum depth: 885.264638 meters looking forward 100.000000 meters along route # Maximum depth: 890.531586 meters looking forward 100.000000 meters along route # Vehicle depth: 835.264638 meters behavior waypoint { latitude = 36.712786; longitude = -122.186060; duration = 1670; depth = 835.264638; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update 4 - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 835.264638 meters set by local depth and desired altitude behavior descend { duration = 3184; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 828.076752; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 107.645514 meters # Minimum depth: 885.264638 meters looking forward 100.000000 meters along route # Maximum depth: 890.531586 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 36.712786; longitude = -122.186060; duration = 2000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 180.667353; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 180.667353; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000066; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################