# 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: 4A_AxialMidSRift_2v2.rte # Mission File: 4A_AxialMidSRift_2v2.cfg # Distance: 80772.834792 (m) # Estimated Time: 56689 (s) 15.747 (hr) # Abort Time: 63663 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 2936 (s) # Way Points: 23 # Route Points: 752 # 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: 33 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # 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: 75 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 2043.688697 (m) # Abort Vehicle Depth: 2068.688697 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1806.65097 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 -130.042077 45.771377 -1866.650970 0.000000 3 # 1 -130.046355 45.703995 -2015.668945 7494.259728 3 # 2 -130.044430 45.703933 -1977.814453 7644.280306 3 # 3 -130.040083 45.770991 -1891.564331 15102.814857 3 # 4 -130.038139 45.770339 -1898.376953 15270.439240 3 # 5 -130.042505 45.703871 -1905.932617 22663.551702 3 # 6 -130.040581 45.703809 -1869.549316 22813.494753 3 # 7 -130.036212 45.770277 -1891.186066 30206.615679 3 # 8 -130.034285 45.770215 -1886.051666 30356.614337 3 # 9 -130.038656 45.703747 -1860.087463 37749.740159 3 # 10 -130.036731 45.703685 -1829.102539 37899.761220 3 # 11 -130.032358 45.770153 -1935.750519 45292.891945 3 # 12 -130.030431 45.769704 -1919.341309 45450.820004 3 # 13 -130.034806 45.703623 -1885.887329 52801.001538 3 # 14 -130.032882 45.703561 -1921.476562 52950.945071 3 # 15 -130.028565 45.769704 -1880.803558 60307.798490 3 # 16 -130.026656 45.769425 -1908.215302 60459.443258 3 # 17 -130.030957 45.703499 -1983.865967 67792.151681 3 # 18 -130.029032 45.703436 -2004.886261 67942.178370 3 # 19 -130.024769 45.768803 -1903.454956 75212.703370 3 # 20 -130.023053 45.768911 -1873.355957 75346.678313 3 # 21 -130.025112 45.734036 -1928.935059 79224.971393 3 # 22 -130.044973 45.734830 -1957.760376 80772.834792 4 # # A total of 752 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 65000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2043.688697; abortDepth = 2068.688697; 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 = 2936; 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 22 # Segment length 145.422452 meters # Minimum depth: 1957.760376 meters looking forward 100.000000 meters along route # Maximum depth: 1982.679387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.760376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734830; longitude = -130.044973; duration = 581; # abortOnTimeout = True; initialDepth = 1920.922709; finalDepth = 1907.760376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1907.760376 # Seafloor depth: -1957.760376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.009477 meters # Minimum depth: 1970.922709 meters looking forward 100.000000 meters along route # Maximum depth: 1984.881053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1920.922709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734755; longitude = -130.043107; duration = 400; initialDepth = 1890.022432; finalDepth = 1920.922709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.189719 # Actual altitude: 62.189719 # Commanded vehicle depth: 1920.922709 # Seafloor depth: -1983.112428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009548 meters # Minimum depth: 1940.022432 meters looking forward 100.000000 meters along route # Maximum depth: 1968.519341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.022432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734704; longitude = -130.041824; duration = 400; initialDepth = 1888.895473; finalDepth = 1890.022432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.496909 # Actual altitude: 78.496909 # Commanded vehicle depth: 1890.022432 # Seafloor depth: -1968.519341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009620 meters # Minimum depth: 1938.895473 meters looking forward 100.000000 meters along route # Maximum depth: 1970.255829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.895473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734653; longitude = -130.040541; duration = 400; initialDepth = 1905.948571; finalDepth = 1888.895473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.496909 # Actual altitude: 78.496909 # Commanded vehicle depth: 1888.895473 # Seafloor depth: -1939.606671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009691 meters # Minimum depth: 1955.948571 meters looking forward 100.000000 meters along route # Maximum depth: 1966.329481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.948571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734601; longitude = -130.039257; duration = 400; initialDepth = 1895.506452; finalDepth = 1905.948571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3809100000001 # Actual altitude: 60.3809100000001 # Commanded vehicle depth: 1905.948571 # Seafloor depth: -1966.329481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009762 meters # Minimum depth: 1945.506452 meters looking forward 100.000000 meters along route # Maximum depth: 1959.157361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.506452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734550; longitude = -130.037974; duration = 400; initialDepth = 1876.471465; finalDepth = 1895.506452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9008159999998 # Actual altitude: 61.9008159999998 # Commanded vehicle depth: 1895.506452 # Seafloor depth: -1957.407268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009834 meters # Minimum depth: 1926.471465 meters looking forward 100.000000 meters along route # Maximum depth: 1943.830420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.471465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734499; longitude = -130.036691; duration = 400; initialDepth = 1883.718958; finalDepth = 1876.471465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3589549999999 # Actual altitude: 67.3589549999999 # Commanded vehicle depth: 1876.471465 # Seafloor depth: -1943.830420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009906 meters # Minimum depth: 1933.718958 meters looking forward 100.000000 meters along route # Maximum depth: 1950.680449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.718958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734448; longitude = -130.035408; duration = 400; initialDepth = 1895.407687; finalDepth = 1883.718958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3589549999999 # Actual altitude: 67.3589549999999 # Commanded vehicle depth: 1883.718958 # Seafloor depth: -1936.067831 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.009977 meters # Minimum depth: 1945.407687 meters looking forward 100.000000 meters along route # Maximum depth: 1955.206494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.407687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734396; longitude = -130.034124; duration = 400; initialDepth = 1883.562377; finalDepth = 1895.407687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.335636 # Actual altitude: 53.335636 # Commanded vehicle depth: 1895.407687 # Seafloor depth: -1948.743323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.010048 meters # Minimum depth: 1933.562377 meters looking forward 100.000000 meters along route # Maximum depth: 1948.910940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.562377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734345; longitude = -130.032841; duration = 400; initialDepth = 1876.865609; finalDepth = 1883.562377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.28864 # Actual altitude: 65.28864 # Commanded vehicle depth: 1883.562377 # Seafloor depth: -1948.851017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.010121 meters # Minimum depth: 1926.865609 meters looking forward 100.000000 meters along route # Maximum depth: 1936.998194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.865609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734294; longitude = -130.031558; duration = 400; initialDepth = 1873.295394; finalDepth = 1876.865609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.28864 # Actual altitude: 65.28864 # Commanded vehicle depth: 1876.865609 # Seafloor depth: -1933.200918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.010191 meters # Minimum depth: 1923.295394 meters looking forward 100.000000 meters along route # Maximum depth: 1935.548244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.295394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734242; longitude = -130.030275; duration = 400; initialDepth = 1886.469875; finalDepth = 1873.295394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3353090000001 # Actual altitude: 56.3353090000001 # Commanded vehicle depth: 1873.295394 # Seafloor depth: -1928.592707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.010264 meters # Minimum depth: 1936.469875 meters looking forward 100.000000 meters along route # Maximum depth: 1950.140531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.469875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734191; longitude = -130.028991; duration = 400; initialDepth = 1894.125442; finalDepth = 1886.469875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.297313 # Actual altitude: 55.297313 # Commanded vehicle depth: 1886.469875 # Seafloor depth: -1936.469875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.010335 meters # Minimum depth: 1944.125442 meters looking forward 100.000000 meters along route # Maximum depth: 1965.268916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1894.125442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734140; longitude = -130.027708; duration = 400; initialDepth = 1874.128478; finalDepth = 1894.125442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5645050000001 # Actual altitude: 53.5645050000001 # Commanded vehicle depth: 1894.125442 # Seafloor depth: -1947.689947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.312173 meters # Minimum depth: 1924.128478 meters looking forward 100.000000 meters along route # Maximum depth: 1949.613889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.128478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734088; longitude = -130.026425; duration = 409; initialDepth = 1878.935059; finalDepth = 1874.128478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 74.053361 # Actual altitude: 74.053361 # Commanded vehicle depth: 1874.128478 # Seafloor depth: -1948.181839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.43; 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 153.051651 meters # Minimum depth: 1928.935059 meters looking forward 100.000000 meters along route # Maximum depth: 1961.489392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.935059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734036; longitude = -130.025112; duration = 612; # abortOnTimeout = True; initialDepth = 1885.364511; finalDepth = 1878.935059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.053361 # Actual altitude: 74.053361 # Commanded vehicle depth: 1878.935059 # Seafloor depth: -1928.935059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.028195 meters # Minimum depth: 1935.364511 meters looking forward 100.000000 meters along route # Maximum depth: 1968.719310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.364511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735412; longitude = -130.025031; duration = 428; initialDepth = 1846.949626; finalDepth = 1885.364511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1019020000001 # Actual altitude: 77.1019020000001 # Commanded vehicle depth: 1885.364511 # Seafloor depth: -1962.466413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028209 meters # Minimum depth: 1896.949626 meters looking forward 100.000000 meters along route # Maximum depth: 1935.148635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.949626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736375; longitude = -130.024974; duration = 428; initialDepth = 1825.880829; finalDepth = 1846.949626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.9145429999999 # Actual altitude: 86.9145429999999 # Commanded vehicle depth: 1846.949626 # Seafloor depth: -1933.864169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028223 meters # Minimum depth: 1875.880829 meters looking forward 100.000000 meters along route # Maximum depth: 1911.848411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.880829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737337; longitude = -130.024917; duration = 428; initialDepth = 1857.189195; finalDepth = 1825.880829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.9145429999999 # Actual altitude: 86.9145429999999 # Commanded vehicle depth: 1825.880829 # Seafloor depth: -1890.549257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028236 meters # Minimum depth: 1907.189195 meters looking forward 100.000000 meters along route # Maximum depth: 1920.422212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.189195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738300; longitude = -130.024860; duration = 428; initialDepth = 1865.296848; finalDepth = 1857.189195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6684279999999 # Actual altitude: 64.6684279999999 # Commanded vehicle depth: 1857.189195 # Seafloor depth: -1907.189195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028250 meters # Minimum depth: 1915.296848 meters looking forward 100.000000 meters along route # Maximum depth: 1930.122857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.296848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739262; longitude = -130.024803; duration = 428; initialDepth = 1866.250307; finalDepth = 1865.296848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7259060000001 # Actual altitude: 60.7259060000001 # Commanded vehicle depth: 1865.296848 # Seafloor depth: -1926.022754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028264 meters # Minimum depth: 1916.250307 meters looking forward 100.000000 meters along route # Maximum depth: 1939.911152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.250307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740224; longitude = -130.024747; duration = 428; initialDepth = 1888.490513; finalDepth = 1866.250307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7259060000001 # Actual altitude: 60.7259060000001 # Commanded vehicle depth: 1866.250307 # Seafloor depth: -1916.665953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028278 meters # Minimum depth: 1938.490513 meters looking forward 100.000000 meters along route # Maximum depth: 1958.008285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.490513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741187; longitude = -130.024690; duration = 428; initialDepth = 1885.201099; finalDepth = 1888.490513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4156459999999 # Actual altitude: 50.4156459999999 # Commanded vehicle depth: 1888.490513 # Seafloor depth: -1938.888700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028291 meters # Minimum depth: 1935.201099 meters looking forward 100.000000 meters along route # Maximum depth: 1950.825355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.201099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742149; longitude = -130.024633; duration = 428; initialDepth = 1847.313454; finalDepth = 1885.201099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.541712 # Actual altitude: 61.541712 # Commanded vehicle depth: 1885.201099 # Seafloor depth: -1946.742811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028305 meters # Minimum depth: 1897.313454 meters looking forward 100.000000 meters along route # Maximum depth: 1938.126318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.313454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743112; longitude = -130.024576; duration = 428; initialDepth = 1839.205370; finalDepth = 1847.313454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.037908 # Actual altitude: 86.037908 # Commanded vehicle depth: 1847.313454 # Seafloor depth: -1933.351362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028319 meters # Minimum depth: 1889.205370 meters looking forward 100.000000 meters along route # Maximum depth: 1894.824615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.205370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744074; longitude = -130.024519; duration = 428; initialDepth = 1836.934848; finalDepth = 1839.205370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.037908 # Actual altitude: 86.037908 # Commanded vehicle depth: 1839.20537 # Seafloor depth: -1894.553302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028332 meters # Minimum depth: 1886.934848 meters looking forward 100.000000 meters along route # Maximum depth: 1917.293614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.934848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745037; longitude = -130.024463; duration = 428; initialDepth = 1831.424494; finalDepth = 1836.934848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5145169999998 # Actual altitude: 57.5145169999998 # Commanded vehicle depth: 1836.934848 # Seafloor depth: -1894.449365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028347 meters # Minimum depth: 1881.424494 meters looking forward 100.000000 meters along route # Maximum depth: 1917.684552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.424494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745999; longitude = -130.024406; duration = 428; initialDepth = 1829.266086; finalDepth = 1831.424494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.2600579999998 # Actual altitude: 86.2600579999998 # Commanded vehicle depth: 1831.424494 # Seafloor depth: -1917.684552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028359 meters # Minimum depth: 1879.266086 meters looking forward 100.000000 meters along route # Maximum depth: 1898.772883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.266086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746962; longitude = -130.024349; duration = 428; initialDepth = 1848.466032; finalDepth = 1829.266086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.2600579999998 # Actual altitude: 86.2600579999998 # Commanded vehicle depth: 1829.266086 # Seafloor depth: -1882.689800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028374 meters # Minimum depth: 1898.466032 meters looking forward 100.000000 meters along route # Maximum depth: 1918.170528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.466032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747924; longitude = -130.024292; duration = 428; initialDepth = 1790.562739; finalDepth = 1848.466032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.423714 # Actual altitude: 53.423714 # Commanded vehicle depth: 1848.466032 # Seafloor depth: -1898.522127 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 105.749353 meters # Minimum depth: 1840.562739 meters looking forward 100.000000 meters along route # Maximum depth: 1901.714792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.562739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748886; longitude = -130.024235; duration = 422; initialDepth = 1769.535486; finalDepth = 1790.562739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.152053 # Actual altitude: 100 # Commanded vehicle depth: 1790.562739 # Seafloor depth: -1901.714792 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.172208 meters # Minimum depth: 1819.535486 meters looking forward 100.000000 meters along route # Maximum depth: 1838.709499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.535486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749837; longitude = -130.024179; duration = 404; initialDepth = 1790.473540; finalDepth = 1769.535486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.152053 # Actual altitude: 100 # Commanded vehicle depth: 1769.535486 # Seafloor depth: -1834.157407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028414 meters # Minimum depth: 1840.473540 meters looking forward 100.000000 meters along route # Maximum depth: 1883.939100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.473540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750747; longitude = -130.024125; duration = 428; initialDepth = 1836.221370; finalDepth = 1790.473540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6219209999999 # Actual altitude: 64.6219209999999 # Commanded vehicle depth: 1790.47354 # Seafloor depth: -1840.473540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028428 meters # Minimum depth: 1886.221370 meters looking forward 100.000000 meters along route # Maximum depth: 1903.008138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.221370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751710; longitude = -130.024069; duration = 428; initialDepth = 1851.395439; finalDepth = 1836.221370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.731409 # Actual altitude: 56.731409 # Commanded vehicle depth: 1836.22137 # Seafloor depth: -1892.952779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028441 meters # Minimum depth: 1901.395439 meters looking forward 100.000000 meters along route # Maximum depth: 1912.121250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.395439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752672; longitude = -130.024012; duration = 428; initialDepth = 1804.190581; finalDepth = 1851.395439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.731409 # Actual altitude: 56.731409 # Commanded vehicle depth: 1851.395439 # Seafloor depth: -1901.395439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028455 meters # Minimum depth: 1854.190581 meters looking forward 100.000000 meters along route # Maximum depth: 1903.678423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.190581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753634; longitude = -130.023955; duration = 428; initialDepth = 1767.168770; finalDepth = 1804.190581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.487842 # Actual altitude: 99.487842 # Commanded vehicle depth: 1804.190581 # Seafloor depth: -1903.678423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028469 meters # Minimum depth: 1817.168770 meters looking forward 100.000000 meters along route # Maximum depth: 1851.253488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.168770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754597; longitude = -130.023898; duration = 428; initialDepth = 1775.439730; finalDepth = 1767.168770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.487842 # Actual altitude: 99.487842 # Commanded vehicle depth: 1767.16877 # Seafloor depth: -1851.253488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028483 meters # Minimum depth: 1825.439730 meters looking forward 100.000000 meters along route # Maximum depth: 1853.044381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.439730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755559; longitude = -130.023841; duration = 428; initialDepth = 1807.297172; finalDepth = 1775.439730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.0847180000001 # Actual altitude: 84.0847180000001 # Commanded vehicle depth: 1775.43973 # Seafloor depth: -1825.439730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028496 meters # Minimum depth: 1857.297172 meters looking forward 100.000000 meters along route # Maximum depth: 1908.545547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.297172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756522; longitude = -130.023784; duration = 428; initialDepth = 1857.205378; finalDepth = 1807.297172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.297172 # Seafloor depth: -1857.297172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028510 meters # Minimum depth: 1909.253651 meters looking forward 100.000000 meters along route # Maximum depth: 1939.604538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.205378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757484; longitude = -130.023728; duration = 428; initialDepth = 1875.084067; finalDepth = 1857.205378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0482726442231 # Actual altitude: 52.0482726442231 # Commanded vehicle depth: 1857.20537835578 # Seafloor depth: -1909.253651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028523 meters # Minimum depth: 1925.084067 meters looking forward 100.000000 meters along route # Maximum depth: 1939.849651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.084067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758447; longitude = -130.023671; duration = 428; initialDepth = 1858.959133; finalDepth = 1875.084067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.765584 # Actual altitude: 64.765584 # Commanded vehicle depth: 1875.084067 # Seafloor depth: -1939.849651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028538 meters # Minimum depth: 1908.959133 meters looking forward 100.000000 meters along route # Maximum depth: 1938.890497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.959133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759409; longitude = -130.023614; duration = 428; initialDepth = 1840.066723; finalDepth = 1858.959133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.931364 # Actual altitude: 79.931364 # Commanded vehicle depth: 1858.959133 # Seafloor depth: -1938.890497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028551 meters # Minimum depth: 1890.066723 meters looking forward 100.000000 meters along route # Maximum depth: 1909.549607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.066723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760372; longitude = -130.023557; duration = 428; initialDepth = 1846.966173; finalDepth = 1840.066723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.931364 # Actual altitude: 79.931364 # Commanded vehicle depth: 1840.066723 # Seafloor depth: -1909.549607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028565 meters # Minimum depth: 1896.966173 meters looking forward 100.000000 meters along route # Maximum depth: 1903.954214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.966173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761334; longitude = -130.023500; duration = 428; initialDepth = 1848.126711; finalDepth = 1846.966173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.482884 # Actual altitude: 69.482884 # Commanded vehicle depth: 1846.966173 # Seafloor depth: -1897.664863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028579 meters # Minimum depth: 1898.126711 meters looking forward 100.000000 meters along route # Maximum depth: 1910.179423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.126711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762296; longitude = -130.023444; duration = 428; initialDepth = 1852.824340; finalDepth = 1848.126711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0465660000002 # Actual altitude: 58.0465660000002 # Commanded vehicle depth: 1848.126711 # Seafloor depth: -1906.173277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028592 meters # Minimum depth: 1902.824340 meters looking forward 100.000000 meters along route # Maximum depth: 1912.580716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.824340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763259; longitude = -130.023387; duration = 428; initialDepth = 1854.334535; finalDepth = 1852.824340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0465660000002 # Actual altitude: 58.0465660000002 # Commanded vehicle depth: 1852.82434 # Seafloor depth: -1907.392749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028606 meters # Minimum depth: 1904.334535 meters looking forward 100.000000 meters along route # Maximum depth: 1909.550793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.334535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764221; longitude = -130.023330; duration = 428; initialDepth = 1844.731172; finalDepth = 1854.334535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2162580000002 # Actual altitude: 55.2162580000002 # Commanded vehicle depth: 1854.334535 # Seafloor depth: -1909.550793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.231272 meters # Minimum depth: 1894.731172 meters looking forward 100.000000 meters along route # Maximum depth: 1906.225543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.731172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765184; longitude = -130.023273; duration = 424; initialDepth = 1846.662447; finalDepth = 1844.731172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.494371 # Actual altitude: 61.494371 # Commanded vehicle depth: 1844.731172 # Seafloor depth: -1906.225543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.690739 meters # Minimum depth: 1896.662447 meters looking forward 100.000000 meters along route # Maximum depth: 1903.293936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.662447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766139; longitude = -130.023217; duration = 402; initialDepth = 1840.245383; finalDepth = 1846.662447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.494371 # Actual altitude: 61.494371 # Commanded vehicle depth: 1846.662447 # Seafloor depth: -1902.967201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.028646 meters # Minimum depth: 1890.245383 meters looking forward 100.000000 meters along route # Maximum depth: 1896.952160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.245383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767044; longitude = -130.023163; duration = 428; initialDepth = 1824.700932; finalDepth = 1840.245383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.304754 # Actual altitude: 56.304754 # Commanded vehicle depth: 1840.245383 # Seafloor depth: -1892.861335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.545579 meters # Minimum depth: 1874.700932 meters looking forward 100.000000 meters along route # Maximum depth: 1893.283363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.700932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768007; longitude = -130.023106; duration = 402; initialDepth = 1818.903699; finalDepth = 1824.700932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.582431 # Actual altitude: 68.582431 # Commanded vehicle depth: 1824.700932 # Seafloor depth: -1893.283363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.15; 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 133.974943 meters # Minimum depth: 1868.903699 meters looking forward 100.000000 meters along route # Maximum depth: 1903.419121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.903699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768911; longitude = -130.023053; duration = 535; # abortOnTimeout = True; initialDepth = 1846.167976; finalDepth = 1818.903699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.582431 # Actual altitude: 68.582431 # Commanded vehicle depth: 1818.903699 # Seafloor depth: -1873.355957 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.15; 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 117.098324 meters # Minimum depth: 1896.167976 meters looking forward 100.000000 meters along route # Maximum depth: 1903.454956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.167976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768803; longitude = -130.024769; duration = 468; # abortOnTimeout = True; initialDepth = 1840.251689; finalDepth = 1846.167976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2869800000001 # Actual altitude: 57.2869800000001 # Commanded vehicle depth: 1846.167976 # Seafloor depth: -1903.454956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 107.048753 meters # Minimum depth: 1890.251689 meters looking forward 100.000000 meters along route # Maximum depth: 1898.618964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.251689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767750; longitude = -130.024838; duration = 428; initialDepth = 1833.639494; finalDepth = 1840.251689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1116140000001 # Actual altitude: 58.1116140000001 # Commanded vehicle depth: 1840.251689 # Seafloor depth: -1898.363303 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048740 meters # Minimum depth: 1883.639494 meters looking forward 100.000000 meters along route # Maximum depth: 1889.486120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.639494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766788; longitude = -130.024900; duration = 428; initialDepth = 1831.752378; finalDepth = 1833.639494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1116140000001 # Actual altitude: 58.1116140000001 # Commanded vehicle depth: 1833.639494 # Seafloor depth: -1889.486120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048726 meters # Minimum depth: 1881.752378 meters looking forward 100.000000 meters along route # Maximum depth: 1887.612618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.752378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765825; longitude = -130.024963; duration = 428; initialDepth = 1825.542206; finalDepth = 1831.752378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.846626 # Actual altitude: 55.846626 # Commanded vehicle depth: 1831.752378 # Seafloor depth: -1885.034282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048714 meters # Minimum depth: 1875.542206 meters looking forward 100.000000 meters along route # Maximum depth: 1899.001055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.542206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764863; longitude = -130.025026; duration = 428; initialDepth = 1816.246159; finalDepth = 1825.542206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.220411 # Actual altitude: 64.220411 # Commanded vehicle depth: 1825.542206 # Seafloor depth: -1889.762617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048701 meters # Minimum depth: 1866.246159 meters looking forward 100.000000 meters along route # Maximum depth: 1875.754674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.246159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763900; longitude = -130.025089; duration = 428; initialDepth = 1811.186774; finalDepth = 1816.246159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.220411 # Actual altitude: 64.220411 # Commanded vehicle depth: 1816.246159 # Seafloor depth: -1872.363620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048688 meters # Minimum depth: 1861.186774 meters looking forward 100.000000 meters along route # Maximum depth: 1877.614938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.186774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762938; longitude = -130.025151; duration = 428; initialDepth = 1811.449030; finalDepth = 1811.186774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.117461 # Actual altitude: 56.117461 # Commanded vehicle depth: 1811.186774 # Seafloor depth: -1866.061114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048675 meters # Minimum depth: 1861.449030 meters looking forward 100.000000 meters along route # Maximum depth: 1878.486155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.449030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761976; longitude = -130.025214; duration = 428; initialDepth = 1811.685969; finalDepth = 1811.449030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9274029999999 # Actual altitude: 66.9274029999999 # Commanded vehicle depth: 1811.44903 # Seafloor depth: -1878.376433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048662 meters # Minimum depth: 1861.685969 meters looking forward 100.000000 meters along route # Maximum depth: 1868.290072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.685969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761013; longitude = -130.025277; duration = 428; initialDepth = 1805.818506; finalDepth = 1811.685969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9274029999999 # Actual altitude: 66.9274029999999 # Commanded vehicle depth: 1811.685969 # Seafloor depth: -1862.170565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048649 meters # Minimum depth: 1855.818506 meters looking forward 100.000000 meters along route # Maximum depth: 1868.780037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.818506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760051; longitude = -130.025340; duration = 428; initialDepth = 1794.377914; finalDepth = 1805.818506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0552619999999 # Actual altitude: 61.0552619999999 # Commanded vehicle depth: 1805.818506 # Seafloor depth: -1866.873768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048637 meters # Minimum depth: 1844.377914 meters looking forward 100.000000 meters along route # Maximum depth: 1859.406108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.377914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759088; longitude = -130.025403; duration = 428; initialDepth = 1777.241532; finalDepth = 1794.377914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0552619999999 # Actual altitude: 61.0552619999999 # Commanded vehicle depth: 1794.377914 # Seafloor depth: -1853.030848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048623 meters # Minimum depth: 1827.241532 meters looking forward 100.000000 meters along route # Maximum depth: 1843.722148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.241532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758126; longitude = -130.025465; duration = 428; initialDepth = 1759.705748; finalDepth = 1777.241532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4806160000001 # Actual altitude: 66.4806160000001 # Commanded vehicle depth: 1777.241532 # Seafloor depth: -1843.722148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.728224 meters # Minimum depth: 1809.705748 meters looking forward 100.000000 meters along route # Maximum depth: 1828.303068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.705748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757163; longitude = -130.025528; duration = 426; initialDepth = 1740.826222; finalDepth = 1759.705748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1206539999998 # Actual altitude: 67.1206539999998 # Commanded vehicle depth: 1759.705748 # Seafloor depth: -1826.826402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.232411 meters # Minimum depth: 1790.826222 meters looking forward 100.000000 meters along route # Maximum depth: 1801.993553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.826222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756204; longitude = -130.025591; duration = 400; initialDepth = 1743.727173; finalDepth = 1740.826222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1206539999998 # Actual altitude: 67.1206539999998 # Commanded vehicle depth: 1740.826222 # Seafloor depth: -1801.628794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048585 meters # Minimum depth: 1793.727173 meters looking forward 100.000000 meters along route # Maximum depth: 1815.349964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.727173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755303; longitude = -130.025649; duration = 428; initialDepth = 1770.546575; finalDepth = 1743.727173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8025720000001 # Actual altitude: 60.8025720000001 # Commanded vehicle depth: 1743.727173 # Seafloor depth: -1793.727173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048573 meters # Minimum depth: 1820.546575 meters looking forward 100.000000 meters along route # Maximum depth: 1848.003400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.546575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754340; longitude = -130.025712; duration = 428; initialDepth = 1785.337640; finalDepth = 1770.546575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.546575 # Seafloor depth: -1820.546575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048559 meters # Minimum depth: 1835.337640 meters looking forward 100.000000 meters along route # Maximum depth: 1855.992694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.337640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753378; longitude = -130.025775; duration = 428; initialDepth = 1767.721900; finalDepth = 1785.337640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.526748 # Actual altitude: 62.526748 # Commanded vehicle depth: 1785.33764 # Seafloor depth: -1847.864388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048547 meters # Minimum depth: 1817.721900 meters looking forward 100.000000 meters along route # Maximum depth: 1841.828361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.721900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752415; longitude = -130.025838; duration = 428; initialDepth = 1756.033173; finalDepth = 1767.721900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1064610000001 # Actual altitude: 74.1064610000001 # Commanded vehicle depth: 1767.7219 # Seafloor depth: -1841.828361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048533 meters # Minimum depth: 1806.033173 meters looking forward 100.000000 meters along route # Maximum depth: 1815.640443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.033173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751453; longitude = -130.025901; duration = 428; initialDepth = 1762.967610; finalDepth = 1756.033173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1064610000001 # Actual altitude: 74.1064610000001 # Commanded vehicle depth: 1756.033173 # Seafloor depth: -1815.640443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048521 meters # Minimum depth: 1812.967610 meters looking forward 100.000000 meters along route # Maximum depth: 1830.280346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.967610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750490; longitude = -130.025963; duration = 428; initialDepth = 1777.901265; finalDepth = 1762.967610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.60727 # Actual altitude: 59.60727 # Commanded vehicle depth: 1762.96761 # Seafloor depth: -1812.967610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048508 meters # Minimum depth: 1827.901265 meters looking forward 100.000000 meters along route # Maximum depth: 1842.169430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.901265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749528; longitude = -130.026026; duration = 428; initialDepth = 1787.755197; finalDepth = 1777.901265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7186960000001 # Actual altitude: 50.7186960000001 # Commanded vehicle depth: 1777.901265 # Seafloor depth: -1828.619961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048495 meters # Minimum depth: 1837.755197 meters looking forward 100.000000 meters along route # Maximum depth: 1847.517006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.755197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748566; longitude = -130.026089; duration = 428; initialDepth = 1798.008191; finalDepth = 1787.755197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1936740000001 # Actual altitude: 54.1936740000001 # Commanded vehicle depth: 1787.755197 # Seafloor depth: -1841.948871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048482 meters # Minimum depth: 1848.008191 meters looking forward 100.000000 meters along route # Maximum depth: 1861.556536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.008191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747603; longitude = -130.026152; duration = 428; initialDepth = 1814.790783; finalDepth = 1798.008191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1936740000001 # Actual altitude: 54.1936740000001 # Commanded vehicle depth: 1798.008191 # Seafloor depth: -1848.231331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048469 meters # Minimum depth: 1864.790783 meters looking forward 100.000000 meters along route # Maximum depth: 1875.498930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.790783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746641; longitude = -130.026214; duration = 428; initialDepth = 1820.153996; finalDepth = 1814.790783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2231400000001 # Actual altitude: 50.2231400000001 # Commanded vehicle depth: 1814.790783 # Seafloor depth: -1864.790783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048456 meters # Minimum depth: 1870.153996 meters looking forward 100.000000 meters along route # Maximum depth: 1895.169023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.153996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745678; longitude = -130.026277; duration = 428; initialDepth = 1846.388733; finalDepth = 1820.153996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.201937 # Actual altitude: 52.201937 # Commanded vehicle depth: 1820.153996 # Seafloor depth: -1872.355933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048443 meters # Minimum depth: 1896.388733 meters looking forward 100.000000 meters along route # Maximum depth: 1909.068950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.388733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744716; longitude = -130.026340; duration = 428; initialDepth = 1862.501542; finalDepth = 1846.388733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.201937 # Actual altitude: 52.201937 # Commanded vehicle depth: 1846.388733 # Seafloor depth: -1896.388733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048430 meters # Minimum depth: 1912.501542 meters looking forward 100.000000 meters along route # Maximum depth: 1924.448690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.501542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743753; longitude = -130.026403; duration = 428; initialDepth = 1846.491672; finalDepth = 1862.501542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1862.501542 # Seafloor depth: -1912.501542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048417 meters # Minimum depth: 1896.491672 meters looking forward 100.000000 meters along route # Maximum depth: 1913.571651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.491672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742791; longitude = -130.026465; duration = 428; initialDepth = 1826.426936; finalDepth = 1846.491672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0471869999999 # Actual altitude: 67.0471869999999 # Commanded vehicle depth: 1846.491672 # Seafloor depth: -1913.538859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048404 meters # Minimum depth: 1876.426936 meters looking forward 100.000000 meters along route # Maximum depth: 1893.465408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.426936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741829; longitude = -130.026528; duration = 428; initialDepth = 1828.424991; finalDepth = 1826.426936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0471869999999 # Actual altitude: 67.0471869999999 # Commanded vehicle depth: 1826.426936 # Seafloor depth: -1893.465408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048392 meters # Minimum depth: 1878.424991 meters looking forward 100.000000 meters along route # Maximum depth: 1903.096362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.424991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740866; longitude = -130.026591; duration = 428; initialDepth = 1841.252378; finalDepth = 1828.424991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.038472 # Actual altitude: 67.038472 # Commanded vehicle depth: 1828.424991 # Seafloor depth: -1880.326151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048378 meters # Minimum depth: 1891.252378 meters looking forward 100.000000 meters along route # Maximum depth: 1905.791160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.252378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739904; longitude = -130.026654; duration = 428; initialDepth = 1825.118106; finalDepth = 1841.252378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4830590000001 # Actual altitude: 62.4830590000001 # Commanded vehicle depth: 1841.252378 # Seafloor depth: -1903.735437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048366 meters # Minimum depth: 1875.118106 meters looking forward 100.000000 meters along route # Maximum depth: 1887.590369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.118106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738941; longitude = -130.026716; duration = 428; initialDepth = 1838.510721; finalDepth = 1825.118106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4830590000001 # Actual altitude: 62.4830590000001 # Commanded vehicle depth: 1825.118106 # Seafloor depth: -1887.590369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048352 meters # Minimum depth: 1888.510721 meters looking forward 100.000000 meters along route # Maximum depth: 1944.296709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.510721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737979; longitude = -130.026779; duration = 428; initialDepth = 1888.428186; finalDepth = 1838.510721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4722630000001 # Actual altitude: 62.4722630000001 # Commanded vehicle depth: 1838.510721 # Seafloor depth: -1888.510721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048340 meters # Minimum depth: 1947.681507 meters looking forward 100.000000 meters along route # Maximum depth: 1978.518326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.428186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737016; longitude = -130.026842; duration = 428; initialDepth = 1907.386057; finalDepth = 1888.428186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2533206395365 # Actual altitude: 59.2533206395365 # Commanded vehicle depth: 1888.42818636046 # Seafloor depth: -1947.681507 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048327 meters # Minimum depth: 1957.386057 meters looking forward 100.000000 meters along route # Maximum depth: 1977.300618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.386057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736054; longitude = -130.026905; duration = 428; initialDepth = 1902.467569; finalDepth = 1907.386057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.914561 # Actual altitude: 69.914561 # Commanded vehicle depth: 1907.386057 # Seafloor depth: -1977.300618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048314 meters # Minimum depth: 1952.467569 meters looking forward 100.000000 meters along route # Maximum depth: 1955.704955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.467569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735091; longitude = -130.026968; duration = 428; initialDepth = 1905.482044; finalDepth = 1902.467569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.914561 # Actual altitude: 69.914561 # Commanded vehicle depth: 1902.467569 # Seafloor depth: -1955.704955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048300 meters # Minimum depth: 1955.482044 meters looking forward 100.000000 meters along route # Maximum depth: 1962.479195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.482044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734129; longitude = -130.027030; duration = 428; initialDepth = 1886.750735; finalDepth = 1905.482044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9971509999998 # Actual altitude: 56.9971509999998 # Commanded vehicle depth: 1905.482044 # Seafloor depth: -1962.479195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048288 meters # Minimum depth: 1936.750735 meters looking forward 100.000000 meters along route # Maximum depth: 1958.370938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.750735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733167; longitude = -130.027093; duration = 428; initialDepth = 1862.645564; finalDepth = 1886.750735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.274717 # Actual altitude: 71.274717 # Commanded vehicle depth: 1886.750735 # Seafloor depth: -1958.025452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048275 meters # Minimum depth: 1912.645564 meters looking forward 100.000000 meters along route # Maximum depth: 1938.236126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.645564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732204; longitude = -130.027156; duration = 428; initialDepth = 1859.526480; finalDepth = 1862.645564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5905620000001 # Actual altitude: 75.5905620000001 # Commanded vehicle depth: 1862.645564 # Seafloor depth: -1938.236126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048263 meters # Minimum depth: 1909.526480 meters looking forward 100.000000 meters along route # Maximum depth: 1932.955472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.526480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731242; longitude = -130.027219; duration = 428; initialDepth = 1882.470460; finalDepth = 1859.526480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5905620000001 # Actual altitude: 75.5905620000001 # Commanded vehicle depth: 1859.52648 # Seafloor depth: -1912.456765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048249 meters # Minimum depth: 1932.470460 meters looking forward 100.000000 meters along route # Maximum depth: 1960.337769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.470460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730279; longitude = -130.027281; duration = 428; initialDepth = 1909.283103; finalDepth = 1882.470460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9302849999999 # Actual altitude: 52.9302849999999 # Commanded vehicle depth: 1882.47046 # Seafloor depth: -1932.470460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048236 meters # Minimum depth: 1959.283103 meters looking forward 100.000000 meters along route # Maximum depth: 1974.205022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1909.283103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729317; longitude = -130.027344; duration = 428; initialDepth = 1896.861880; finalDepth = 1909.283103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.713751 # Actual altitude: 51.713751 # Commanded vehicle depth: 1909.283103 # Seafloor depth: -1960.996854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048223 meters # Minimum depth: 1946.861880 meters looking forward 100.000000 meters along route # Maximum depth: 1970.514150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.861880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728354; longitude = -130.027407; duration = 428; initialDepth = 1897.278077; finalDepth = 1896.861880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.65227 # Actual altitude: 73.65227 # Commanded vehicle depth: 1896.86188 # Seafloor depth: -1970.514150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048211 meters # Minimum depth: 1947.278077 meters looking forward 100.000000 meters along route # Maximum depth: 1974.759756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.278077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727392; longitude = -130.027470; duration = 428; initialDepth = 1917.921675; finalDepth = 1897.278077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.65227 # Actual altitude: 73.65227 # Commanded vehicle depth: 1897.278077 # Seafloor depth: -1947.350747 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048197 meters # Minimum depth: 1967.921675 meters looking forward 100.000000 meters along route # Maximum depth: 1977.330442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.921675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726430; longitude = -130.027532; duration = 428; initialDepth = 1912.996866; finalDepth = 1917.921675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1568319999999 # Actual altitude: 59.1568319999999 # Commanded vehicle depth: 1917.921675 # Seafloor depth: -1977.078507 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048185 meters # Minimum depth: 1962.996866 meters looking forward 100.000000 meters along route # Maximum depth: 1983.666125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.996866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725467; longitude = -130.027595; duration = 428; initialDepth = 1921.212368; finalDepth = 1912.996866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.830371 # Actual altitude: 61.830371 # Commanded vehicle depth: 1912.996866 # Seafloor depth: -1974.827237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048171 meters # Minimum depth: 1971.212368 meters looking forward 100.000000 meters along route # Maximum depth: 1990.294206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.212368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724505; longitude = -130.027658; duration = 428; initialDepth = 1916.381977; finalDepth = 1921.212368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.749859 # Actual altitude: 63.749859 # Commanded vehicle depth: 1921.212368 # Seafloor depth: -1984.962227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048159 meters # Minimum depth: 1966.381977 meters looking forward 100.000000 meters along route # Maximum depth: 1978.748702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.381977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723542; longitude = -130.027721; duration = 428; initialDepth = 1929.832869; finalDepth = 1916.381977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.749859 # Actual altitude: 63.749859 # Commanded vehicle depth: 1916.381977 # Seafloor depth: -1967.069549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048146 meters # Minimum depth: 1979.832869 meters looking forward 100.000000 meters along route # Maximum depth: 2002.208750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1929.832869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722580; longitude = -130.027784; duration = 428; initialDepth = 1941.431588; finalDepth = 1929.832869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.687572 # Actual altitude: 50.687572 # Commanded vehicle depth: 1929.832869 # Seafloor depth: -1979.832869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048132 meters # Minimum depth: 1991.431588 meters looking forward 100.000000 meters along route # Maximum depth: 2002.532277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.431588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721617; longitude = -130.027846; duration = 428; initialDepth = 1943.928677; finalDepth = 1941.431588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1006890000001 # Actual altitude: 61.1006890000001 # Commanded vehicle depth: 1941.431588 # Seafloor depth: -2002.532277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048120 meters # Minimum depth: 1993.928677 meters looking forward 100.000000 meters along route # Maximum depth: 1999.811388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.928677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720655; longitude = -130.027909; duration = 428; initialDepth = 1928.483137; finalDepth = 1943.928677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1006890000001 # Actual altitude: 61.1006890000001 # Commanded vehicle depth: 1943.928677 # Seafloor depth: -1995.394488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048107 meters # Minimum depth: 1978.483137 meters looking forward 100.000000 meters along route # Maximum depth: 2005.558839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1928.483137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719692; longitude = -130.027972; duration = 428; initialDepth = 1870.028888; finalDepth = 1928.483137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.351406 # Actual altitude: 72.351406 # Commanded vehicle depth: 1928.483137 # Seafloor depth: -2000.834543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048094 meters # Minimum depth: 1920.028888 meters looking forward 100.000000 meters along route # Maximum depth: 1972.927046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.028888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718730; longitude = -130.028035; duration = 428; initialDepth = 1865.518446; finalDepth = 1870.028888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.69785 # Actual altitude: 100 # Commanded vehicle depth: 1870.028888 # Seafloor depth: -1971.726738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048081 meters # Minimum depth: 1915.518446 meters looking forward 100.000000 meters along route # Maximum depth: 1935.966972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.518446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717768; longitude = -130.028097; duration = 428; initialDepth = 1882.229606; finalDepth = 1865.518446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.69785 # Actual altitude: 100 # Commanded vehicle depth: 1865.518446 # Seafloor depth: -1919.403389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048068 meters # Minimum depth: 1932.229606 meters looking forward 100.000000 meters along route # Maximum depth: 1942.889766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.229606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716805; longitude = -130.028160; duration = 428; initialDepth = 1871.292136; finalDepth = 1882.229606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.884943 # Actual altitude: 53.884943 # Commanded vehicle depth: 1882.229606 # Seafloor depth: -1935.640494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 106.797982 meters # Minimum depth: 1921.292136 meters looking forward 100.000000 meters along route # Maximum depth: 1944.419637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.292136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715843; longitude = -130.028223; duration = 427; initialDepth = 1871.008942; finalDepth = 1871.292136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1275009999999 # Actual altitude: 73.1275009999999 # Commanded vehicle depth: 1871.292136 # Seafloor depth: -1944.419637 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.161580 meters # Minimum depth: 1921.008942 meters looking forward 100.000000 meters along route # Maximum depth: 1925.547048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.008942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714883; longitude = -130.028285; duration = 400; initialDepth = 1874.765422; finalDepth = 1871.008942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1275009999999 # Actual altitude: 73.1275009999999 # Commanded vehicle depth: 1871.008942 # Seafloor depth: -1921.437627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048030 meters # Minimum depth: 1924.765422 meters looking forward 100.000000 meters along route # Maximum depth: 1961.340517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.765422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713982; longitude = -130.028344; duration = 428; initialDepth = 1895.931833; finalDepth = 1874.765422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4286850000001 # Actual altitude: 50.4286850000001 # Commanded vehicle depth: 1874.765422 # Seafloor depth: -1924.765422 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048018 meters # Minimum depth: 1945.931833 meters looking forward 100.000000 meters along route # Maximum depth: 1952.178378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.931833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713020; longitude = -130.028407; duration = 428; initialDepth = 1906.401215; finalDepth = 1895.931833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8456999999999 # Actual altitude: 55.8456999999999 # Commanded vehicle depth: 1895.931833 # Seafloor depth: -1951.777533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.048004 meters # Minimum depth: 1956.401215 meters looking forward 100.000000 meters along route # Maximum depth: 1979.937820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.401215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712057; longitude = -130.028470; duration = 428; initialDepth = 1928.615657; finalDepth = 1906.401215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8456999999999 # Actual altitude: 55.8456999999999 # Commanded vehicle depth: 1906.401215 # Seafloor depth: -1956.401215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047992 meters # Minimum depth: 1978.615657 meters looking forward 100.000000 meters along route # Maximum depth: 1987.919877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1928.615657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711095; longitude = -130.028533; duration = 428; initialDepth = 1940.187370; finalDepth = 1928.615657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.434735 # Actual altitude: 51.434735 # Commanded vehicle depth: 1928.615657 # Seafloor depth: -1980.050392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047978 meters # Minimum depth: 1990.187370 meters looking forward 100.000000 meters along route # Maximum depth: 1996.050815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1940.187370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710132; longitude = -130.028595; duration = 428; initialDepth = 1939.181787; finalDepth = 1940.187370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.434735 # Actual altitude: 51.434735 # Commanded vehicle depth: 1940.18737 # Seafloor depth: -1990.673220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047966 meters # Minimum depth: 1989.181787 meters looking forward 100.000000 meters along route # Maximum depth: 1997.833408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.181787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709170; longitude = -130.028658; duration = 428; initialDepth = 1947.913797; finalDepth = 1939.181787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4858499999998 # Actual altitude: 50.4858499999998 # Commanded vehicle depth: 1939.181787 # Seafloor depth: -1989.630882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047952 meters # Minimum depth: 1997.913797 meters looking forward 100.000000 meters along route # Maximum depth: 2002.506887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.913797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708207; longitude = -130.028721; duration = 428; initialDepth = 1952.615265; finalDepth = 1947.913797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4490949999999 # Actual altitude: 50.4490949999999 # Commanded vehicle depth: 1947.913797 # Seafloor depth: -1997.913797 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047940 meters # Minimum depth: 2002.615265 meters looking forward 100.000000 meters along route # Maximum depth: 2019.586997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.615265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707245; longitude = -130.028784; duration = 428; initialDepth = 1964.560859; finalDepth = 1952.615265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3797980000002 # Actual altitude: 51.3797980000002 # Commanded vehicle depth: 1952.615265 # Seafloor depth: -2003.995063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047927 meters # Minimum depth: 2014.560859 meters looking forward 100.000000 meters along route # Maximum depth: 2031.371852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1964.560859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706283; longitude = -130.028846; duration = 428; initialDepth = 1960.137227; finalDepth = 1964.560859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2125550000001 # Actual altitude: 55.2125550000001 # Commanded vehicle depth: 1964.560859 # Seafloor depth: -2019.773414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 107.047914 meters # Minimum depth: 2010.137227 meters looking forward 100.000000 meters along route # Maximum depth: 2018.546189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.137227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705320; longitude = -130.028909; duration = 428; initialDepth = 1949.884875; finalDepth = 1960.137227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2125550000001 # Actual altitude: 55.2125550000001 # Commanded vehicle depth: 1960.137227 # Seafloor depth: -2015.037787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.509794 meters # Minimum depth: 1999.884875 meters looking forward 100.000000 meters along route # Maximum depth: 2009.563775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.884875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704358; longitude = -130.028972; duration = 410; initialDepth = 1935.779076; finalDepth = 1949.884875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.5003940000001 # Actual altitude: 58.5003940000001 # Commanded vehicle depth: 1949.884875 # Seafloor depth: -2008.385269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.10; 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 150.026689 meters # Minimum depth: 1985.779076 meters looking forward 100.000000 meters along route # Maximum depth: 2008.353413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.779076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703436; longitude = -130.029032; duration = 600; # abortOnTimeout = True; initialDepth = 1905.263386; finalDepth = 1935.779076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.1071850000001 # Actual altitude: 69.1071850000001 # Commanded vehicle depth: 1935.779076 # Seafloor depth: -2004.886261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.46; 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 179.013976 meters # Minimum depth: 1955.263386 meters looking forward 100.000000 meters along route # Maximum depth: 1983.865967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.263386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703499; longitude = -130.030957; duration = 716; # abortOnTimeout = True; initialDepth = 1903.214083; finalDepth = 1905.263386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6025809999999 # Actual altitude: 78.6025809999999 # Commanded vehicle depth: 1905.263386 # Seafloor depth: -1983.865967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.038613 meters # Minimum depth: 1953.214083 meters looking forward 100.000000 meters along route # Maximum depth: 1973.062916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.214083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705108; longitude = -130.030852; duration = 408; initialDepth = 1919.087864; finalDepth = 1903.214083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6025809999999 # Actual altitude: 78.6025809999999 # Commanded vehicle depth: 1903.214083 # Seafloor depth: -1957.806064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048048 meters # Minimum depth: 1969.087864 meters looking forward 100.000000 meters along route # Maximum depth: 1977.998500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.087864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706026; longitude = -130.030792; duration = 428; initialDepth = 1921.377690; finalDepth = 1919.087864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4104069999999 # Actual altitude: 55.4104069999999 # Commanded vehicle depth: 1919.087864 # Seafloor depth: -1974.498271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048062 meters # Minimum depth: 1971.377690 meters looking forward 100.000000 meters along route # Maximum depth: 1977.326973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.377690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706988; longitude = -130.030729; duration = 428; initialDepth = 1904.302390; finalDepth = 1921.377690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9492829999999 # Actual altitude: 55.9492829999999 # Commanded vehicle depth: 1921.37769 # Seafloor depth: -1977.326973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048073 meters # Minimum depth: 1954.302390 meters looking forward 100.000000 meters along route # Maximum depth: 1969.703799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.302390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707951; longitude = -130.030667; duration = 428; initialDepth = 1899.234175; finalDepth = 1904.302390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4014089999998 # Actual altitude: 65.4014089999998 # Commanded vehicle depth: 1904.30239 # Seafloor depth: -1969.703799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048087 meters # Minimum depth: 1949.234175 meters looking forward 100.000000 meters along route # Maximum depth: 1959.147872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.234175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708913; longitude = -130.030604; duration = 428; initialDepth = 1910.101741; finalDepth = 1899.234175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4014089999998 # Actual altitude: 65.4014089999998 # Commanded vehicle depth: 1899.234175 # Seafloor depth: -1949.234175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048100 meters # Minimum depth: 1960.101741 meters looking forward 100.000000 meters along route # Maximum depth: 1976.286401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.101741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709876; longitude = -130.030541; duration = 428; initialDepth = 1923.327252; finalDepth = 1910.101741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1910.101741 # Seafloor depth: -1960.101741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048113 meters # Minimum depth: 1973.327252 meters looking forward 100.000000 meters along route # Maximum depth: 1981.334813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1923.327252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710838; longitude = -130.030478; duration = 428; initialDepth = 1918.939687; finalDepth = 1923.327252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3661050000001 # Actual altitude: 53.3661050000001 # Commanded vehicle depth: 1923.327252 # Seafloor depth: -1976.693357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048126 meters # Minimum depth: 1968.939687 meters looking forward 100.000000 meters along route # Maximum depth: 1979.419092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.939687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711800; longitude = -130.030415; duration = 428; initialDepth = 1919.978546; finalDepth = 1918.939687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.643975 # Actual altitude: 57.643975 # Commanded vehicle depth: 1918.939687 # Seafloor depth: -1976.583662 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048138 meters # Minimum depth: 1969.978546 meters looking forward 100.000000 meters along route # Maximum depth: 1981.577303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.978546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712763; longitude = -130.030353; duration = 428; initialDepth = 1872.091714; finalDepth = 1919.978546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.643975 # Actual altitude: 57.643975 # Commanded vehicle depth: 1919.978546 # Seafloor depth: -1974.488347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048152 meters # Minimum depth: 1922.091714 meters looking forward 100.000000 meters along route # Maximum depth: 1966.528113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.091714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713725; longitude = -130.030290; duration = 428; initialDepth = 1861.863683; finalDepth = 1872.091714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.4363990000002 # Actual altitude: 94.4363990000002 # Commanded vehicle depth: 1872.091714 # Seafloor depth: -1966.528113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048164 meters # Minimum depth: 1911.863683 meters looking forward 100.000000 meters along route # Maximum depth: 1923.481082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.863683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714688; longitude = -130.030227; duration = 428; initialDepth = 1871.795382; finalDepth = 1861.863683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.4363990000002 # Actual altitude: 94.4363990000002 # Commanded vehicle depth: 1861.863683 # Seafloor depth: -1923.481082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048177 meters # Minimum depth: 1921.795382 meters looking forward 100.000000 meters along route # Maximum depth: 1964.416478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.795382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715650; longitude = -130.030164; duration = 428; initialDepth = 1897.191716; finalDepth = 1871.795382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.617399 # Actual altitude: 61.617399 # Commanded vehicle depth: 1871.795382 # Seafloor depth: -1921.795382 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048190 meters # Minimum depth: 1947.191716 meters looking forward 100.000000 meters along route # Maximum depth: 1958.256065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.191716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716613; longitude = -130.030101; duration = 428; initialDepth = 1896.982352; finalDepth = 1897.191716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.064349 # Actual altitude: 61.064349 # Commanded vehicle depth: 1897.191716 # Seafloor depth: -1958.256065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048204 meters # Minimum depth: 1946.982352 meters looking forward 100.000000 meters along route # Maximum depth: 1964.334288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.982352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717575; longitude = -130.030039; duration = 428; initialDepth = 1908.915769; finalDepth = 1896.982352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.064349 # Actual altitude: 61.064349 # Commanded vehicle depth: 1896.982352 # Seafloor depth: -1949.046287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048216 meters # Minimum depth: 1958.915769 meters looking forward 100.000000 meters along route # Maximum depth: 1973.132453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.915769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718538; longitude = -130.029976; duration = 428; initialDepth = 1916.272581; finalDepth = 1908.915769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2140550000001 # Actual altitude: 56.2140550000001 # Commanded vehicle depth: 1908.915769 # Seafloor depth: -1965.129824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048229 meters # Minimum depth: 1966.272581 meters looking forward 100.000000 meters along route # Maximum depth: 1980.122398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.272581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719500; longitude = -130.029913; duration = 428; initialDepth = 1882.143609; finalDepth = 1916.272581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7420540000001 # Actual altitude: 60.7420540000001 # Commanded vehicle depth: 1916.272581 # Seafloor depth: -1977.014635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048242 meters # Minimum depth: 1932.143609 meters looking forward 100.000000 meters along route # Maximum depth: 1965.933911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.143609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720462; longitude = -130.029850; duration = 428; initialDepth = 1871.706582; finalDepth = 1882.143609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.7903020000001 # Actual altitude: 83.7903020000001 # Commanded vehicle depth: 1882.143609 # Seafloor depth: -1965.933911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048255 meters # Minimum depth: 1921.706582 meters looking forward 100.000000 meters along route # Maximum depth: 1939.206923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.706582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721425; longitude = -130.029788; duration = 428; initialDepth = 1845.304034; finalDepth = 1871.706582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.7903020000001 # Actual altitude: 83.7903020000001 # Commanded vehicle depth: 1871.706582 # Seafloor depth: -1934.296455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048267 meters # Minimum depth: 1895.304034 meters looking forward 100.000000 meters along route # Maximum depth: 1920.334388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.304034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722387; longitude = -130.029725; duration = 428; initialDepth = 1840.307725; finalDepth = 1845.304034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.030354 # Actual altitude: 75.030354 # Commanded vehicle depth: 1845.304034 # Seafloor depth: -1920.334388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048281 meters # Minimum depth: 1890.307725 meters looking forward 100.000000 meters along route # Maximum depth: 1901.542713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.307725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723350; longitude = -130.029662; duration = 428; initialDepth = 1845.453415; finalDepth = 1840.307725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.030354 # Actual altitude: 75.030354 # Commanded vehicle depth: 1840.307725 # Seafloor depth: -1901.542713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048294 meters # Minimum depth: 1895.453415 meters looking forward 100.000000 meters along route # Maximum depth: 1915.998659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.453415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724312; longitude = -130.029599; duration = 428; initialDepth = 1855.851264; finalDepth = 1845.453415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2349880000002 # Actual altitude: 61.2349880000002 # Commanded vehicle depth: 1845.453415 # Seafloor depth: -1900.513694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048306 meters # Minimum depth: 1905.851264 meters looking forward 100.000000 meters along route # Maximum depth: 1919.007231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.851264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725275; longitude = -130.029536; duration = 428; initialDepth = 1820.766187; finalDepth = 1855.851264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1559670000001 # Actual altitude: 63.1559670000001 # Commanded vehicle depth: 1855.851264 # Seafloor depth: -1919.007231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048320 meters # Minimum depth: 1870.766187 meters looking forward 100.000000 meters along route # Maximum depth: 1899.233978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.766187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726237; longitude = -130.029474; duration = 428; initialDepth = 1836.018201; finalDepth = 1820.766187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.467791 # Actual altitude: 78.467791 # Commanded vehicle depth: 1820.766187 # Seafloor depth: -1899.233978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048332 meters # Minimum depth: 1886.018201 meters looking forward 100.000000 meters along route # Maximum depth: 1928.227471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.018201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727199; longitude = -130.029411; duration = 428; initialDepth = 1865.795525; finalDepth = 1836.018201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.467791 # Actual altitude: 78.467791 # Commanded vehicle depth: 1836.018201 # Seafloor depth: -1886.018201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048345 meters # Minimum depth: 1915.795525 meters looking forward 100.000000 meters along route # Maximum depth: 1926.574820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.795525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728162; longitude = -130.029348; duration = 428; initialDepth = 1857.190875; finalDepth = 1865.795525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5659000000001 # Actual altitude: 50.5659000000001 # Commanded vehicle depth: 1865.795525 # Seafloor depth: -1916.361425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048358 meters # Minimum depth: 1907.190875 meters looking forward 100.000000 meters along route # Maximum depth: 1918.221688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.190875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729124; longitude = -130.029285; duration = 428; initialDepth = 1870.039596; finalDepth = 1857.190875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0776880000001 # Actual altitude: 58.0776880000001 # Commanded vehicle depth: 1857.190875 # Seafloor depth: -1915.268563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048372 meters # Minimum depth: 1920.039596 meters looking forward 100.000000 meters along route # Maximum depth: 1942.745931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.039596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730087; longitude = -130.029222; duration = 428; initialDepth = 1892.883431; finalDepth = 1870.039596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0776880000001 # Actual altitude: 58.0776880000001 # Commanded vehicle depth: 1870.039596 # Seafloor depth: -1920.039596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048384 meters # Minimum depth: 1942.883431 meters looking forward 100.000000 meters along route # Maximum depth: 1962.680972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.883431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731049; longitude = -130.029160; duration = 428; initialDepth = 1855.324953; finalDepth = 1892.883431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1892.883431 # Seafloor depth: -1942.883431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048397 meters # Minimum depth: 1905.324953 meters looking forward 100.000000 meters along route # Maximum depth: 1945.756729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.324953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732012; longitude = -130.029097; duration = 428; initialDepth = 1868.505119; finalDepth = 1855.324953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.4317759999999 # Actual altitude: 90.4317759999999 # Commanded vehicle depth: 1855.324953 # Seafloor depth: -1945.756729 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048410 meters # Minimum depth: 1918.505119 meters looking forward 100.000000 meters along route # Maximum depth: 1930.522934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.505119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732974; longitude = -130.029034; duration = 428; initialDepth = 1871.473296; finalDepth = 1868.505119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.4317759999999 # Actual altitude: 90.4317759999999 # Commanded vehicle depth: 1868.505119 # Seafloor depth: -1922.085725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048422 meters # Minimum depth: 1921.473296 meters looking forward 100.000000 meters along route # Maximum depth: 1937.342533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.473296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733937; longitude = -130.028971; duration = 428; initialDepth = 1870.936474; finalDepth = 1871.473296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5699830000001 # Actual altitude: 60.5699830000001 # Commanded vehicle depth: 1871.473296 # Seafloor depth: -1932.043279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048436 meters # Minimum depth: 1920.936474 meters looking forward 100.000000 meters along route # Maximum depth: 1934.646619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.936474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734899; longitude = -130.028908; duration = 428; initialDepth = 1841.817105; finalDepth = 1870.936474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5699830000001 # Actual altitude: 60.5699830000001 # Commanded vehicle depth: 1870.936474 # Seafloor depth: -1920.936474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048449 meters # Minimum depth: 1891.817105 meters looking forward 100.000000 meters along route # Maximum depth: 1927.522644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.817105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735861; longitude = -130.028846; duration = 428; initialDepth = 1834.232098; finalDepth = 1841.817105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.7055389999998 # Actual altitude: 85.7055389999998 # Commanded vehicle depth: 1841.817105 # Seafloor depth: -1927.522644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048462 meters # Minimum depth: 1884.232098 meters looking forward 100.000000 meters along route # Maximum depth: 1899.152336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.232098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736824; longitude = -130.028783; duration = 428; initialDepth = 1773.803802; finalDepth = 1834.232098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.7055389999998 # Actual altitude: 85.7055389999998 # Commanded vehicle depth: 1834.232098 # Seafloor depth: -1888.298884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048474 meters # Minimum depth: 1823.803802 meters looking forward 100.000000 meters along route # Maximum depth: 1883.989609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.803802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737786; longitude = -130.028720; duration = 428; initialDepth = 1762.298281; finalDepth = 1773.803802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.185807 # Actual altitude: 100 # Commanded vehicle depth: 1773.803802 # Seafloor depth: -1883.989609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048488 meters # Minimum depth: 1812.298281 meters looking forward 100.000000 meters along route # Maximum depth: 1838.850525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.298281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738749; longitude = -130.028657; duration = 428; initialDepth = 1766.678126; finalDepth = 1762.298281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.185807 # Actual altitude: 100 # Commanded vehicle depth: 1762.298281 # Seafloor depth: -1816.727917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048500 meters # Minimum depth: 1816.678126 meters looking forward 100.000000 meters along route # Maximum depth: 1831.665823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.678126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739711; longitude = -130.028595; duration = 428; initialDepth = 1782.910113; finalDepth = 1766.678126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2150389999999 # Actual altitude: 61.2150389999999 # Commanded vehicle depth: 1766.678126 # Seafloor depth: -1827.893165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048513 meters # Minimum depth: 1832.910113 meters looking forward 100.000000 meters along route # Maximum depth: 1858.906602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.910113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740674; longitude = -130.028532; duration = 428; initialDepth = 1811.907520; finalDepth = 1782.910113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2150389999999 # Actual altitude: 61.2150389999999 # Commanded vehicle depth: 1782.910113 # Seafloor depth: -1832.910113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048526 meters # Minimum depth: 1861.907520 meters looking forward 100.000000 meters along route # Maximum depth: 1872.934900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.907520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741636; longitude = -130.028469; duration = 428; initialDepth = 1819.872473; finalDepth = 1811.907520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1811.90752 # Seafloor depth: -1861.907520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048540 meters # Minimum depth: 1869.872473 meters looking forward 100.000000 meters along route # Maximum depth: 1879.394263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.872473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742599; longitude = -130.028406; duration = 428; initialDepth = 1807.347288; finalDepth = 1819.872473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1819.872473 # Seafloor depth: -1869.872473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048552 meters # Minimum depth: 1857.347288 meters looking forward 100.000000 meters along route # Maximum depth: 1872.837711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.347288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743561; longitude = -130.028343; duration = 428; initialDepth = 1789.920037; finalDepth = 1807.347288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.490423 # Actual altitude: 65.490423 # Commanded vehicle depth: 1807.347288 # Seafloor depth: -1872.837711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048565 meters # Minimum depth: 1839.920037 meters looking forward 100.000000 meters along route # Maximum depth: 1860.423312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.920037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744523; longitude = -130.028281; duration = 428; initialDepth = 1741.354739; finalDepth = 1789.920037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0807869999999 # Actual altitude: 68.0807869999999 # Commanded vehicle depth: 1789.920037 # Seafloor depth: -1858.000824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048578 meters # Minimum depth: 1791.354739 meters looking forward 100.000000 meters along route # Maximum depth: 1840.336563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.354739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745486; longitude = -130.028218; duration = 428; initialDepth = 1731.227360; finalDepth = 1741.354739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.600013 # Actual altitude: 97.600013 # Commanded vehicle depth: 1741.354739 # Seafloor depth: -1838.954752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 105.683076 meters # Minimum depth: 1781.227360 meters looking forward 100.000000 meters along route # Maximum depth: 1793.821105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.227360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746448; longitude = -130.028155; duration = 422; initialDepth = 1717.656752; finalDepth = 1731.227360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.600013 # Actual altitude: 97.600013 # Commanded vehicle depth: 1731.22736 # Seafloor depth: -1791.519156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.277544 meters # Minimum depth: 1767.656752 meters looking forward 100.000000 meters along route # Maximum depth: 1781.825945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.656752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747398; longitude = -130.028093; duration = 405; initialDepth = 1693.499461; finalDepth = 1717.656752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.395483 # Actual altitude: 63.395483 # Commanded vehicle depth: 1717.656752 # Seafloor depth: -1781.052235 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048616 meters # Minimum depth: 1743.499461 meters looking forward 100.000000 meters along route # Maximum depth: 1766.506376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.499461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748309; longitude = -130.028034; duration = 428; initialDepth = 1699.158928; finalDepth = 1693.499461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.0069149999999 # Actual altitude: 73.0069149999999 # Commanded vehicle depth: 1693.499461 # Seafloor depth: -1766.506376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048629 meters # Minimum depth: 1749.158928 meters looking forward 100.000000 meters along route # Maximum depth: 1760.767854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.158928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749271; longitude = -130.027971; duration = 428; initialDepth = 1699.195840; finalDepth = 1699.158928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.0069149999999 # Actual altitude: 73.0069149999999 # Commanded vehicle depth: 1699.158928 # Seafloor depth: -1752.885719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048642 meters # Minimum depth: 1749.195840 meters looking forward 100.000000 meters along route # Maximum depth: 1765.199577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.195840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750234; longitude = -130.027908; duration = 428; initialDepth = 1709.695978; finalDepth = 1699.195840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5450489999998 # Actual altitude: 60.5450489999998 # Commanded vehicle depth: 1699.19584 # Seafloor depth: -1759.740889 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048654 meters # Minimum depth: 1759.695978 meters looking forward 100.000000 meters along route # Maximum depth: 1787.137393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.695978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751196; longitude = -130.027845; duration = 428; initialDepth = 1720.666857; finalDepth = 1709.695978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5450489999998 # Actual altitude: 60.5450489999998 # Commanded vehicle depth: 1709.695978 # Seafloor depth: -1759.695978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048668 meters # Minimum depth: 1770.666857 meters looking forward 100.000000 meters along route # Maximum depth: 1786.018023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.666857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752159; longitude = -130.027782; duration = 428; initialDepth = 1708.382518; finalDepth = 1720.666857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3511660000001 # Actual altitude: 65.3511660000001 # Commanded vehicle depth: 1720.666857 # Seafloor depth: -1786.018023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048680 meters # Minimum depth: 1758.382518 meters looking forward 100.000000 meters along route # Maximum depth: 1771.072612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.382518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753121; longitude = -130.027720; duration = 428; initialDepth = 1693.170021; finalDepth = 1708.382518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3511660000001 # Actual altitude: 65.3511660000001 # Commanded vehicle depth: 1708.382518 # Seafloor depth: -1771.072612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048694 meters # Minimum depth: 1743.170021 meters looking forward 100.000000 meters along route # Maximum depth: 1756.421971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.170021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754084; longitude = -130.027657; duration = 428; initialDepth = 1699.463180; finalDepth = 1693.170021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2519500000001 # Actual altitude: 63.2519500000001 # Commanded vehicle depth: 1693.170021 # Seafloor depth: -1756.421971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048706 meters # Minimum depth: 1749.463180 meters looking forward 100.000000 meters along route # Maximum depth: 1781.111446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.463180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755046; longitude = -130.027594; duration = 428; initialDepth = 1709.560866; finalDepth = 1699.463180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2519500000001 # Actual altitude: 63.2519500000001 # Commanded vehicle depth: 1699.46318 # Seafloor depth: -1749.463180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048719 meters # Minimum depth: 1759.560866 meters looking forward 100.000000 meters along route # Maximum depth: 1772.330547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.560866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756008; longitude = -130.027531; duration = 428; initialDepth = 1716.077866; finalDepth = 1709.560866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7884280000001 # Actual altitude: 59.7884280000001 # Commanded vehicle depth: 1709.560866 # Seafloor depth: -1769.349294 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048732 meters # Minimum depth: 1766.077866 meters looking forward 100.000000 meters along route # Maximum depth: 1785.654759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.077866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756971; longitude = -130.027469; duration = 428; initialDepth = 1722.641967; finalDepth = 1716.077866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7884280000001 # Actual altitude: 59.7884280000001 # Commanded vehicle depth: 1716.077866 # Seafloor depth: -1766.077866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048746 meters # Minimum depth: 1772.641967 meters looking forward 100.000000 meters along route # Maximum depth: 1785.240982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.641967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757933; longitude = -130.027406; duration = 428; initialDepth = 1728.922208; finalDepth = 1722.641967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.599015 # Actual altitude: 62.599015 # Commanded vehicle depth: 1722.641967 # Seafloor depth: -1785.240982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048758 meters # Minimum depth: 1778.922208 meters looking forward 100.000000 meters along route # Maximum depth: 1807.257562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.922208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758896; longitude = -130.027343; duration = 428; initialDepth = 1753.972634; finalDepth = 1728.922208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.599015 # Actual altitude: 62.599015 # Commanded vehicle depth: 1728.922208 # Seafloor depth: -1778.922208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048771 meters # Minimum depth: 1803.972634 meters looking forward 100.000000 meters along route # Maximum depth: 1810.856620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.972634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759858; longitude = -130.027280; duration = 428; initialDepth = 1760.488582; finalDepth = 1753.972634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6938560000001 # Actual altitude: 56.6938560000001 # Commanded vehicle depth: 1753.972634 # Seafloor depth: -1810.666490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048783 meters # Minimum depth: 1810.488582 meters looking forward 100.000000 meters along route # Maximum depth: 1835.956193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.488582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760821; longitude = -130.027217; duration = 428; initialDepth = 1788.220104; finalDepth = 1760.488582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6938560000001 # Actual altitude: 56.6938560000001 # Commanded vehicle depth: 1760.488582 # Seafloor depth: -1814.409555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048797 meters # Minimum depth: 1838.220104 meters looking forward 100.000000 meters along route # Maximum depth: 1855.635681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.220104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761783; longitude = -130.027155; duration = 428; initialDepth = 1802.832259; finalDepth = 1788.220104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.920973 # Actual altitude: 53.920973 # Commanded vehicle depth: 1788.220104 # Seafloor depth: -1838.220104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048810 meters # Minimum depth: 1852.832259 meters looking forward 100.000000 meters along route # Maximum depth: 1891.161834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.832259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762746; longitude = -130.027092; duration = 428; initialDepth = 1818.225059; finalDepth = 1802.832259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.006944 # Actual altitude: 50.006944 # Commanded vehicle depth: 1802.832259 # Seafloor depth: -1852.839203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048823 meters # Minimum depth: 1868.225059 meters looking forward 100.000000 meters along route # Maximum depth: 1900.166117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.225059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763708; longitude = -130.027029; duration = 428; initialDepth = 1843.755758; finalDepth = 1818.225059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.10907 # Actual altitude: 69.10907 # Commanded vehicle depth: 1818.225059 # Seafloor depth: -1887.334129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048835 meters # Minimum depth: 1893.755758 meters looking forward 100.000000 meters along route # Maximum depth: 1897.571240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.755758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764670; longitude = -130.026966; duration = 428; initialDepth = 1845.817458; finalDepth = 1843.755758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.10907 # Actual altitude: 69.10907 # Commanded vehicle depth: 1843.755758 # Seafloor depth: -1897.571240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048849 meters # Minimum depth: 1895.817458 meters looking forward 100.000000 meters along route # Maximum depth: 1900.717751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.817458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765633; longitude = -130.026903; duration = 428; initialDepth = 1843.384161; finalDepth = 1845.817458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.815482 # Actual altitude: 53.815482 # Commanded vehicle depth: 1845.817458 # Seafloor depth: -1896.046450 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048861 meters # Minimum depth: 1893.384161 meters looking forward 100.000000 meters along route # Maximum depth: 1900.947283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.384161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766595; longitude = -130.026841; duration = 428; initialDepth = 1846.013871; finalDepth = 1843.384161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.563122 # Actual altitude: 57.563122 # Commanded vehicle depth: 1843.384161 # Seafloor depth: -1900.947283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.048875 meters # Minimum depth: 1896.013871 meters looking forward 100.000000 meters along route # Maximum depth: 1905.453642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.013871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767558; longitude = -130.026778; duration = 428; initialDepth = 1853.533733; finalDepth = 1846.013871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.563122 # Actual altitude: 57.563122 # Commanded vehicle depth: 1846.013871 # Seafloor depth: -1896.013871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.642419 meters # Minimum depth: 1903.533733 meters looking forward 100.000000 meters along route # Maximum depth: 1910.445931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.533733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768520; longitude = -130.026715; duration = 402; initialDepth = 1826.253888; finalDepth = 1853.533733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.543506 # Actual altitude: 50.543506 # Commanded vehicle depth: 1853.533733 # Seafloor depth: -1904.077239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; 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 16 # Segment length 151.644768 meters # Minimum depth: 1876.253888 meters looking forward 100.000000 meters along route # Maximum depth: 1908.215302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.253888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769425; longitude = -130.026656; duration = 606; # abortOnTimeout = True; initialDepth = 1828.959057; finalDepth = 1826.253888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.9614140000001 # Actual altitude: 81.9614140000001 # Commanded vehicle depth: 1826.253888 # Seafloor depth: -1908.215302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.18; 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 95.991853 meters # Minimum depth: 1878.959057 meters looking forward 100.000000 meters along route # Maximum depth: 1883.180708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.959057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769704; longitude = -130.028565; duration = 383; # abortOnTimeout = True; initialDepth = 1827.910332; finalDepth = 1828.959057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9614140000001 # Actual altitude: 81.9614140000001 # Commanded vehicle depth: 1828.959057 # Seafloor depth: -1880.803558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 107.049005 meters # Minimum depth: 1877.910332 meters looking forward 100.000000 meters along route # Maximum depth: 1882.881500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.910332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768841; longitude = -130.028621; duration = 428; initialDepth = 1802.831453; finalDepth = 1827.910332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5051680000001 # Actual altitude: 52.5051680000001 # Commanded vehicle depth: 1827.910332 # Seafloor depth: -1880.415500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048993 meters # Minimum depth: 1852.831453 meters looking forward 100.000000 meters along route # Maximum depth: 1877.879350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.831453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767879; longitude = -130.028684; duration = 428; initialDepth = 1808.068980; finalDepth = 1802.831453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8573690000001 # Actual altitude: 74.8573690000001 # Commanded vehicle depth: 1802.831453 # Seafloor depth: -1877.688822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048979 meters # Minimum depth: 1858.068980 meters looking forward 100.000000 meters along route # Maximum depth: 1874.478122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.068980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766916; longitude = -130.028747; duration = 428; initialDepth = 1808.001488; finalDepth = 1808.068980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8573690000001 # Actual altitude: 74.8573690000001 # Commanded vehicle depth: 1808.06898 # Seafloor depth: -1872.131790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048967 meters # Minimum depth: 1858.001488 meters looking forward 100.000000 meters along route # Maximum depth: 1860.509046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.001488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765954; longitude = -130.028810; duration = 428; initialDepth = 1796.433681; finalDepth = 1808.001488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0628099999999 # Actual altitude: 64.0628099999999 # Commanded vehicle depth: 1808.001488 # Seafloor depth: -1859.029930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048954 meters # Minimum depth: 1846.433681 meters looking forward 100.000000 meters along route # Maximum depth: 1860.240655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.433681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764991; longitude = -130.028873; duration = 428; initialDepth = 1731.405646; finalDepth = 1796.433681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7229130000001 # Actual altitude: 63.7229130000001 # Commanded vehicle depth: 1796.433681 # Seafloor depth: -1860.156594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048940 meters # Minimum depth: 1781.405646 meters looking forward 100.000000 meters along route # Maximum depth: 1847.141711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.405646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764029; longitude = -130.028935; duration = 428; initialDepth = 1729.303936; finalDepth = 1731.405646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.736065 # Actual altitude: 100 # Commanded vehicle depth: 1731.405646 # Seafloor depth: -1847.141711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048928 meters # Minimum depth: 1779.303936 meters looking forward 100.000000 meters along route # Maximum depth: 1796.088399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.303936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763066; longitude = -130.028998; duration = 428; initialDepth = 1732.464666; finalDepth = 1729.303936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.736065 # Actual altitude: 100 # Commanded vehicle depth: 1729.303936 # Seafloor depth: -1781.109552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048915 meters # Minimum depth: 1782.464666 meters looking forward 100.000000 meters along route # Maximum depth: 1797.854755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.464666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762104; longitude = -130.029061; duration = 428; initialDepth = 1704.365279; finalDepth = 1732.464666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.390089 # Actual altitude: 65.390089 # Commanded vehicle depth: 1732.464666 # Seafloor depth: -1797.854755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048902 meters # Minimum depth: 1754.365279 meters looking forward 100.000000 meters along route # Maximum depth: 1782.327510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.365279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761141; longitude = -130.029124; duration = 428; initialDepth = 1714.263190; finalDepth = 1704.365279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.962231 # Actual altitude: 77.962231 # Commanded vehicle depth: 1704.365279 # Seafloor depth: -1782.327510 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048889 meters # Minimum depth: 1764.263190 meters looking forward 100.000000 meters along route # Maximum depth: 1796.723672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.263190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760179; longitude = -130.029187; duration = 428; initialDepth = 1746.479196; finalDepth = 1714.263190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.962231 # Actual altitude: 77.962231 # Commanded vehicle depth: 1714.26319 # Seafloor depth: -1764.263190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 106.697283 meters # Minimum depth: 1796.479196 meters looking forward 100.000000 meters along route # Maximum depth: 1806.471580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.479196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759217; longitude = -130.029249; duration = 426; initialDepth = 1738.685398; finalDepth = 1746.479196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3673289999999 # Actual altitude: 55.3673289999999 # Commanded vehicle depth: 1746.479196 # Seafloor depth: -1801.846525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.263866 meters # Minimum depth: 1788.685398 meters looking forward 100.000000 meters along route # Maximum depth: 1799.236043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.685398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758257; longitude = -130.029312; duration = 401; initialDepth = 1713.322933; finalDepth = 1738.685398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4937629999999 # Actual altitude: 57.4937629999999 # Commanded vehicle depth: 1738.685398 # Seafloor depth: -1796.179161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048851 meters # Minimum depth: 1763.322933 meters looking forward 100.000000 meters along route # Maximum depth: 1789.670693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.322933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757356; longitude = -130.029371; duration = 428; initialDepth = 1715.259020; finalDepth = 1713.322933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.869361 # Actual altitude: 74.869361 # Commanded vehicle depth: 1713.322933 # Seafloor depth: -1788.192294 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048838 meters # Minimum depth: 1765.259020 meters looking forward 100.000000 meters along route # Maximum depth: 1780.040884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.259020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756393; longitude = -130.029434; duration = 428; initialDepth = 1708.789422; finalDepth = 1715.259020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.869361 # Actual altitude: 74.869361 # Commanded vehicle depth: 1715.25902 # Seafloor depth: -1780.040884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048826 meters # Minimum depth: 1758.789422 meters looking forward 100.000000 meters along route # Maximum depth: 1769.075823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.789422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755431; longitude = -130.029497; duration = 428; initialDepth = 1702.646817; finalDepth = 1708.789422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.781864 # Actual altitude: 64.781864 # Commanded vehicle depth: 1708.789422 # Seafloor depth: -1767.911379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048812 meters # Minimum depth: 1752.646817 meters looking forward 100.000000 meters along route # Maximum depth: 1775.688146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.646817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754469; longitude = -130.029559; duration = 428; initialDepth = 1675.931637; finalDepth = 1702.646817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9042509999999 # Actual altitude: 65.9042509999999 # Commanded vehicle depth: 1702.646817 # Seafloor depth: -1768.551068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048800 meters # Minimum depth: 1725.931637 meters looking forward 100.000000 meters along route # Maximum depth: 1748.120968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.931637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753506; longitude = -130.029622; duration = 428; initialDepth = 1673.862935; finalDepth = 1675.931637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.189331 # Actual altitude: 72.189331 # Commanded vehicle depth: 1675.931637 # Seafloor depth: -1748.120968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048786 meters # Minimum depth: 1723.862935 meters looking forward 100.000000 meters along route # Maximum depth: 1741.686687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.862935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752544; longitude = -130.029685; duration = 428; initialDepth = 1632.795409; finalDepth = 1673.862935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.189331 # Actual altitude: 72.189331 # Commanded vehicle depth: 1673.862935 # Seafloor depth: -1736.185657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048774 meters # Minimum depth: 1682.795409 meters looking forward 100.000000 meters along route # Maximum depth: 1721.682563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.795409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751581; longitude = -130.029748; duration = 428; initialDepth = 1602.233435; finalDepth = 1632.795409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.887154 # Actual altitude: 88.887154 # Commanded vehicle depth: 1632.795409 # Seafloor depth: -1721.682563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048761 meters # Minimum depth: 1652.233435 meters looking forward 100.000000 meters along route # Maximum depth: 1681.499602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.233435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750619; longitude = -130.029811; duration = 428; initialDepth = 1606.267807; finalDepth = 1602.233435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.887154 # Actual altitude: 88.887154 # Commanded vehicle depth: 1602.233435 # Seafloor depth: -1681.499602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048747 meters # Minimum depth: 1656.267807 meters looking forward 100.000000 meters along route # Maximum depth: 1685.216734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.267807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749656; longitude = -130.029873; duration = 428; initialDepth = 1636.295672; finalDepth = 1606.267807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.266167 # Actual altitude: 79.266167 # Commanded vehicle depth: 1606.267807 # Seafloor depth: -1656.445081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048735 meters # Minimum depth: 1686.295672 meters looking forward 100.000000 meters along route # Maximum depth: 1711.336957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.295672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748694; longitude = -130.029936; duration = 428; initialDepth = 1661.942275; finalDepth = 1636.295672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1772740000001 # Actual altitude: 50.1772740000001 # Commanded vehicle depth: 1636.295672 # Seafloor depth: -1686.295672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048722 meters # Minimum depth: 1711.942275 meters looking forward 100.000000 meters along route # Maximum depth: 1748.304053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.942275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747732; longitude = -130.029999; duration = 428; initialDepth = 1697.775830; finalDepth = 1661.942275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8336499999998 # Actual altitude: 51.8336499999998 # Commanded vehicle depth: 1661.942275 # Seafloor depth: -1713.775925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048709 meters # Minimum depth: 1747.775830 meters looking forward 100.000000 meters along route # Maximum depth: 1759.296337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.775830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746769; longitude = -130.030062; duration = 428; initialDepth = 1711.190187; finalDepth = 1697.775830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8336499999998 # Actual altitude: 51.8336499999998 # Commanded vehicle depth: 1697.77583 # Seafloor depth: -1749.029837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048696 meters # Minimum depth: 1761.190187 meters looking forward 100.000000 meters along route # Maximum depth: 1814.004310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.190187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745807; longitude = -130.030125; duration = 428; initialDepth = 1761.107813; finalDepth = 1711.190187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.254007 # Actual altitude: 51.254007 # Commanded vehicle depth: 1711.190187 # Seafloor depth: -1761.190187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048684 meters # Minimum depth: 1818.487493 meters looking forward 100.000000 meters along route # Maximum depth: 1826.121737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.107813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744844; longitude = -130.030188; duration = 428; initialDepth = 1768.504302; finalDepth = 1761.107813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4822222297121 # Actual altitude: 57.4822222297121 # Commanded vehicle depth: 1761.10781277029 # Seafloor depth: -1818.590035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048670 meters # Minimum depth: 1818.504302 meters looking forward 100.000000 meters along route # Maximum depth: 1853.264481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.504302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743882; longitude = -130.030250; duration = 428; initialDepth = 1806.754888; finalDepth = 1768.504302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4822222297121 # Actual altitude: 57.4822222297121 # Commanded vehicle depth: 1768.504302 # Seafloor depth: -1818.504302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048657 meters # Minimum depth: 1856.754888 meters looking forward 100.000000 meters along route # Maximum depth: 1892.454569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.754888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742919; longitude = -130.030313; duration = 428; initialDepth = 1843.281686; finalDepth = 1806.754888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1806.754888 # Seafloor depth: -1856.754888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048645 meters # Minimum depth: 1893.281686 meters looking forward 100.000000 meters along route # Maximum depth: 1903.669522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.281686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741957; longitude = -130.030376; duration = 428; initialDepth = 1842.107996; finalDepth = 1843.281686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.973471 # Actual altitude: 51.973471 # Commanded vehicle depth: 1843.281686 # Seafloor depth: -1895.255157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048631 meters # Minimum depth: 1892.107996 meters looking forward 100.000000 meters along route # Maximum depth: 1895.631073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.107996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740994; longitude = -130.030439; duration = 428; initialDepth = 1809.101901; finalDepth = 1842.107996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.973471 # Actual altitude: 51.973471 # Commanded vehicle depth: 1842.107996 # Seafloor depth: -1892.442809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048619 meters # Minimum depth: 1859.101901 meters looking forward 100.000000 meters along route # Maximum depth: 1904.064984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.101901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740032; longitude = -130.030502; duration = 428; initialDepth = 1805.642244; finalDepth = 1809.101901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.88148 # Actual altitude: 84.88148 # Commanded vehicle depth: 1809.101901 # Seafloor depth: -1893.983381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048606 meters # Minimum depth: 1855.642244 meters looking forward 100.000000 meters along route # Maximum depth: 1886.923735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.642244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739070; longitude = -130.030564; duration = 428; initialDepth = 1826.361319; finalDepth = 1805.642244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.88148 # Actual altitude: 84.88148 # Commanded vehicle depth: 1805.642244 # Seafloor depth: -1857.016401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048592 meters # Minimum depth: 1876.361319 meters looking forward 100.000000 meters along route # Maximum depth: 1888.141141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.361319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738107; longitude = -130.030627; duration = 428; initialDepth = 1823.423607; finalDepth = 1826.361319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0529959999999 # Actual altitude: 60.0529959999999 # Commanded vehicle depth: 1826.361319 # Seafloor depth: -1886.414315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048580 meters # Minimum depth: 1873.423607 meters looking forward 100.000000 meters along route # Maximum depth: 1907.100691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.423607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737145; longitude = -130.030690; duration = 428; initialDepth = 1857.028723; finalDepth = 1823.423607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0529959999999 # Actual altitude: 60.0529959999999 # Commanded vehicle depth: 1823.423607 # Seafloor depth: -1873.760877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048567 meters # Minimum depth: 1907.028723 meters looking forward 100.000000 meters along route # Maximum depth: 1910.486078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.028723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736182; longitude = -130.030753; duration = 428; initialDepth = 1859.089684; finalDepth = 1857.028723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.33727 # Actual altitude: 50.33727 # Commanded vehicle depth: 1857.028723 # Seafloor depth: -1907.028723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048554 meters # Minimum depth: 1909.089684 meters looking forward 100.000000 meters along route # Maximum depth: 1930.629494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.089684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735220; longitude = -130.030816; duration = 428; initialDepth = 1879.842135; finalDepth = 1859.089684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1941549999999 # Actual altitude: 50.1941549999999 # Commanded vehicle depth: 1859.089684 # Seafloor depth: -1909.283839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048541 meters # Minimum depth: 1929.842135 meters looking forward 100.000000 meters along route # Maximum depth: 1934.302092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.842135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734257; longitude = -130.030879; duration = 428; initialDepth = 1881.402020; finalDepth = 1879.842135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3947499999999 # Actual altitude: 52.3947499999999 # Commanded vehicle depth: 1879.842135 # Seafloor depth: -1932.236885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048529 meters # Minimum depth: 1931.402020 meters looking forward 100.000000 meters along route # Maximum depth: 1937.441148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.402020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733295; longitude = -130.030941; duration = 428; initialDepth = 1870.363271; finalDepth = 1881.402020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.240542 # Actual altitude: 53.240542 # Commanded vehicle depth: 1881.40202 # Seafloor depth: -1934.642562 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048515 meters # Minimum depth: 1920.363271 meters looking forward 100.000000 meters along route # Maximum depth: 1933.721550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.363271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732332; longitude = -130.031004; duration = 428; initialDepth = 1853.856230; finalDepth = 1870.363271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2118990000001 # Actual altitude: 63.2118990000001 # Commanded vehicle depth: 1870.363271 # Seafloor depth: -1933.575170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048502 meters # Minimum depth: 1903.856230 meters looking forward 100.000000 meters along route # Maximum depth: 1923.843343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.856230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731370; longitude = -130.031067; duration = 428; initialDepth = 1854.506595; finalDepth = 1853.856230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9871129999999 # Actual altitude: 69.9871129999999 # Commanded vehicle depth: 1853.85623 # Seafloor depth: -1923.843343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048490 meters # Minimum depth: 1904.506595 meters looking forward 100.000000 meters along route # Maximum depth: 1910.901940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.506595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730408; longitude = -130.031130; duration = 428; initialDepth = 1847.493028; finalDepth = 1854.506595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9871129999999 # Actual altitude: 69.9871129999999 # Commanded vehicle depth: 1854.506595 # Seafloor depth: -1905.189303 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048476 meters # Minimum depth: 1897.493028 meters looking forward 100.000000 meters along route # Maximum depth: 1910.196929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.493028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729445; longitude = -130.031193; duration = 428; initialDepth = 1845.667448; finalDepth = 1847.493028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0867089999999 # Actual altitude: 61.0867089999999 # Commanded vehicle depth: 1847.493028 # Seafloor depth: -1908.579737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048464 meters # Minimum depth: 1895.667448 meters looking forward 100.000000 meters along route # Maximum depth: 1911.206906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.667448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728483; longitude = -130.031255; duration = 428; initialDepth = 1844.235992; finalDepth = 1845.667448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0867089999999 # Actual altitude: 61.0867089999999 # Commanded vehicle depth: 1845.667448 # Seafloor depth: -1903.341738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048451 meters # Minimum depth: 1894.235992 meters looking forward 100.000000 meters along route # Maximum depth: 1903.036844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.235992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727520; longitude = -130.031318; duration = 428; initialDepth = 1819.380088; finalDepth = 1844.235992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6742900000002 # Actual altitude: 57.6742900000002 # Commanded vehicle depth: 1844.235992 # Seafloor depth: -1895.561761 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048437 meters # Minimum depth: 1869.380088 meters looking forward 100.000000 meters along route # Maximum depth: 1897.922084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.380088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726558; longitude = -130.031381; duration = 428; initialDepth = 1827.816313; finalDepth = 1819.380088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5419960000002 # Actual altitude: 78.5419960000002 # Commanded vehicle depth: 1819.380088 # Seafloor depth: -1897.922084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048425 meters # Minimum depth: 1877.816313 meters looking forward 100.000000 meters along route # Maximum depth: 1884.722666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.816313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725595; longitude = -130.031444; duration = 428; initialDepth = 1824.974073; finalDepth = 1827.816313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5419960000002 # Actual altitude: 78.5419960000002 # Commanded vehicle depth: 1827.816313 # Seafloor depth: -1877.816313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048412 meters # Minimum depth: 1874.974073 meters looking forward 100.000000 meters along route # Maximum depth: 1882.853856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.974073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724633; longitude = -130.031507; duration = 428; initialDepth = 1834.746175; finalDepth = 1824.974073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3470189999998 # Actual altitude: 51.3470189999998 # Commanded vehicle depth: 1824.974073 # Seafloor depth: -1876.321092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048399 meters # Minimum depth: 1884.746175 meters looking forward 100.000000 meters along route # Maximum depth: 1901.003463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.746175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723671; longitude = -130.031569; duration = 428; initialDepth = 1850.541792; finalDepth = 1834.746175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3470189999998 # Actual altitude: 51.3470189999998 # Commanded vehicle depth: 1834.746175 # Seafloor depth: -1884.746175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048387 meters # Minimum depth: 1900.541792 meters looking forward 100.000000 meters along route # Maximum depth: 1912.062162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.541792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722708; longitude = -130.031632; duration = 428; initialDepth = 1863.326337; finalDepth = 1850.541792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.52061 # Actual altitude: 51.52061 # Commanded vehicle depth: 1850.541792 # Seafloor depth: -1902.062402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048373 meters # Minimum depth: 1913.326337 meters looking forward 100.000000 meters along route # Maximum depth: 1922.489035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.326337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721746; longitude = -130.031695; duration = 428; initialDepth = 1873.490944; finalDepth = 1863.326337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.52061 # Actual altitude: 51.52061 # Commanded vehicle depth: 1863.326337 # Seafloor depth: -1913.326337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048360 meters # Minimum depth: 1923.490944 meters looking forward 100.000000 meters along route # Maximum depth: 1940.632095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.490944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720783; longitude = -130.031758; duration = 428; initialDepth = 1883.194430; finalDepth = 1873.490944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1873.490944 # Seafloor depth: -1923.490944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048347 meters # Minimum depth: 1933.194430 meters looking forward 100.000000 meters along route # Maximum depth: 1941.117260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.194430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719821; longitude = -130.031821; duration = 428; initialDepth = 1865.875634; finalDepth = 1883.194430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.92283 # Actual altitude: 57.92283 # Commanded vehicle depth: 1883.19443 # Seafloor depth: -1941.117260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048335 meters # Minimum depth: 1915.875634 meters looking forward 100.000000 meters along route # Maximum depth: 1932.341441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.875634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718858; longitude = -130.031884; duration = 428; initialDepth = 1859.047024; finalDepth = 1865.875634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.465807 # Actual altitude: 66.465807 # Commanded vehicle depth: 1865.875634 # Seafloor depth: -1932.341441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048321 meters # Minimum depth: 1909.047024 meters looking forward 100.000000 meters along route # Maximum depth: 1915.075778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.047024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717896; longitude = -130.031946; duration = 428; initialDepth = 1854.520897; finalDepth = 1859.047024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.465807 # Actual altitude: 66.465807 # Commanded vehicle depth: 1859.047024 # Seafloor depth: -1914.204095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 105.450259 meters # Minimum depth: 1904.520897 meters looking forward 100.000000 meters along route # Maximum depth: 1912.978582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.520897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716933; longitude = -130.032009; duration = 421; initialDepth = 1832.800564; finalDepth = 1854.520897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9834969999999 # Actual altitude: 55.9834969999999 # Commanded vehicle depth: 1854.520897 # Seafloor depth: -1910.504394 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.509793 meters # Minimum depth: 1882.800564 meters looking forward 100.000000 meters along route # Maximum depth: 1903.372062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.800564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715985; longitude = -130.032071; duration = 406; initialDepth = 1841.108636; finalDepth = 1832.800564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.571498 # Actual altitude: 70.571498 # Commanded vehicle depth: 1832.800564 # Seafloor depth: -1903.372062 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048284 meters # Minimum depth: 1891.108636 meters looking forward 100.000000 meters along route # Maximum depth: 1905.069172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.108636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715073; longitude = -130.032131; duration = 428; initialDepth = 1853.700725; finalDepth = 1841.108636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.571498 # Actual altitude: 70.571498 # Commanded vehicle depth: 1841.108636 # Seafloor depth: -1892.345991 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048271 meters # Minimum depth: 1903.700725 meters looking forward 100.000000 meters along route # Maximum depth: 1930.680129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.700725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714110; longitude = -130.032193; duration = 428; initialDepth = 1878.577512; finalDepth = 1853.700725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.237355 # Actual altitude: 51.237355 # Commanded vehicle depth: 1853.700725 # Seafloor depth: -1903.700725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048257 meters # Minimum depth: 1928.577512 meters looking forward 100.000000 meters along route # Maximum depth: 1934.555828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.577512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713148; longitude = -130.032256; duration = 428; initialDepth = 1885.000743; finalDepth = 1878.577512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1574229999999 # Actual altitude: 53.1574229999999 # Commanded vehicle depth: 1878.577512 # Seafloor depth: -1931.734935 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048245 meters # Minimum depth: 1935.000743 meters looking forward 100.000000 meters along route # Maximum depth: 1948.348530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.000743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712185; longitude = -130.032319; duration = 428; initialDepth = 1899.269551; finalDepth = 1885.000743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1574229999999 # Actual altitude: 53.1574229999999 # Commanded vehicle depth: 1885.000743 # Seafloor depth: -1935.000743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048232 meters # Minimum depth: 1949.269551 meters looking forward 100.000000 meters along route # Maximum depth: 1952.279557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.269551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711223; longitude = -130.032382; duration = 428; initialDepth = 1875.652694; finalDepth = 1899.269551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4129779999998 # Actual altitude: 50.4129779999998 # Commanded vehicle depth: 1899.269551 # Seafloor depth: -1949.682529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048220 meters # Minimum depth: 1925.652694 meters looking forward 100.000000 meters along route # Maximum depth: 1948.887794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.652694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710261; longitude = -130.032445; duration = 428; initialDepth = 1872.291927; finalDepth = 1875.652694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9967089999998 # Actual altitude: 71.9967089999998 # Commanded vehicle depth: 1875.652694 # Seafloor depth: -1947.649403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048206 meters # Minimum depth: 1922.291927 meters looking forward 100.000000 meters along route # Maximum depth: 1956.421523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.291927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709298; longitude = -130.032508; duration = 428; initialDepth = 1893.743367; finalDepth = 1872.291927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9967089999998 # Actual altitude: 71.9967089999998 # Commanded vehicle depth: 1872.291927 # Seafloor depth: -1924.811212 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048193 meters # Minimum depth: 1943.743367 meters looking forward 100.000000 meters along route # Maximum depth: 1954.274482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.743367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708336; longitude = -130.032570; duration = 428; initialDepth = 1891.235458; finalDepth = 1893.743367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.531115 # Actual altitude: 60.531115 # Commanded vehicle depth: 1893.743367 # Seafloor depth: -1954.274482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048180 meters # Minimum depth: 1941.235458 meters looking forward 100.000000 meters along route # Maximum depth: 1952.208061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.235458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707373; longitude = -130.032633; duration = 428; initialDepth = 1898.934000; finalDepth = 1891.235458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.531115 # Actual altitude: 60.531115 # Commanded vehicle depth: 1891.235458 # Seafloor depth: -1943.707318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048168 meters # Minimum depth: 1948.934000 meters looking forward 100.000000 meters along route # Maximum depth: 1956.273790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.934000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706411; longitude = -130.032696; duration = 428; initialDepth = 1886.826235; finalDepth = 1898.934000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1424529999999 # Actual altitude: 55.1424529999999 # Commanded vehicle depth: 1898.934 # Seafloor depth: -1954.076453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.048154 meters # Minimum depth: 1936.826235 meters looking forward 100.000000 meters along route # Maximum depth: 1944.325360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.826235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705448; longitude = -130.032759; duration = 428; initialDepth = 1872.030137; finalDepth = 1886.826235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.499125 # Actual altitude: 57.499125 # Commanded vehicle depth: 1886.826235 # Seafloor depth: -1944.325360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.879857 meters # Minimum depth: 1922.030137 meters looking forward 100.000000 meters along route # Maximum depth: 1941.820622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.030137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704486; longitude = -130.032822; duration = 411; initialDepth = 1832.547027; finalDepth = 1872.030137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.790485 # Actual altitude: 69.790485 # Commanded vehicle depth: 1872.030137 # Seafloor depth: -1941.820622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.87; 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 149.943533 meters # Minimum depth: 1882.547027 meters looking forward 100.000000 meters along route # Maximum depth: 1921.476562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.547027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703561; longitude = -130.032882; duration = 599; # abortOnTimeout = True; initialDepth = 1802.945169; finalDepth = 1832.547027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 88.929535 # Actual altitude: 88.929535 # Commanded vehicle depth: 1832.547027 # Seafloor depth: -1921.476562 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.36; 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 81.713252 meters # Minimum depth: 1852.945169 meters looking forward 100.000000 meters along route # Maximum depth: 1890.234894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.945169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703623; longitude = -130.034806; duration = 326; # abortOnTimeout = True; initialDepth = 1784.030521; finalDepth = 1802.945169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.929535 # Actual altitude: 88.929535 # Commanded vehicle depth: 1802.945169 # Seafloor depth: -1885.887329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.051421 meters # Minimum depth: 1834.030521 meters looking forward 100.000000 meters along route # Maximum depth: 1853.208971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.030521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704358; longitude = -130.034757; duration = 428; initialDepth = 1806.744806; finalDepth = 1784.030521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.9421599999998 # Actual altitude: 82.9421599999998 # Commanded vehicle depth: 1784.030521 # Seafloor depth: -1848.455397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051434 meters # Minimum depth: 1856.744806 meters looking forward 100.000000 meters along route # Maximum depth: 1915.637404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.744806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705320; longitude = -130.034694; duration = 428; initialDepth = 1856.663709; finalDepth = 1806.744806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.424876 # Actual altitude: 64.424876 # Commanded vehicle depth: 1806.744806 # Seafloor depth: -1856.744806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051447 meters # Minimum depth: 1921.038164 meters looking forward 100.000000 meters along route # Maximum depth: 1949.140466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.663709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706283; longitude = -130.034630; duration = 428; initialDepth = 1850.056668; finalDepth = 1856.663709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3744554793675 # Actual altitude: 64.3744554793675 # Commanded vehicle depth: 1856.66370852063 # Seafloor depth: -1921.038164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051460 meters # Minimum depth: 1900.056668 meters looking forward 100.000000 meters along route # Maximum depth: 1949.102534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.056668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707245; longitude = -130.034566; duration = 428; initialDepth = 1843.963876; finalDepth = 1850.056668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.8900000000001 # Actual altitude: 98.8900000000001 # Commanded vehicle depth: 1850.056668 # Seafloor depth: -1948.946668 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051473 meters # Minimum depth: 1893.963876 meters looking forward 100.000000 meters along route # Maximum depth: 1926.006073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.963876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708207; longitude = -130.034502; duration = 428; initialDepth = 1882.489949; finalDepth = 1843.963876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.8900000000001 # Actual altitude: 98.8900000000001 # Commanded vehicle depth: 1843.963876 # Seafloor depth: -1900.607091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051485 meters # Minimum depth: 1932.489949 meters looking forward 100.000000 meters along route # Maximum depth: 1943.227560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.489949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709170; longitude = -130.034439; duration = 428; initialDepth = 1877.765319; finalDepth = 1882.489949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6432150000001 # Actual altitude: 56.6432150000001 # Commanded vehicle depth: 1882.489949 # Seafloor depth: -1932.489949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051498 meters # Minimum depth: 1927.765319 meters looking forward 100.000000 meters along route # Maximum depth: 1944.561035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.765319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710132; longitude = -130.034375; duration = 428; initialDepth = 1877.758670; finalDepth = 1877.765319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7485749999998 # Actual altitude: 66.7485749999998 # Commanded vehicle depth: 1877.765319 # Seafloor depth: -1944.513894 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051511 meters # Minimum depth: 1927.758670 meters looking forward 100.000000 meters along route # Maximum depth: 1933.773045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.758670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711095; longitude = -130.034311; duration = 428; initialDepth = 1878.630075; finalDepth = 1877.758670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7485749999998 # Actual altitude: 66.7485749999998 # Commanded vehicle depth: 1877.75867 # Seafloor depth: -1927.758670 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051524 meters # Minimum depth: 1928.630075 meters looking forward 100.000000 meters along route # Maximum depth: 1935.418414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.630075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712057; longitude = -130.034248; duration = 428; initialDepth = 1877.675042; finalDepth = 1878.630075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2337929999999 # Actual altitude: 52.2337929999999 # Commanded vehicle depth: 1878.630075 # Seafloor depth: -1930.863868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051536 meters # Minimum depth: 1927.675042 meters looking forward 100.000000 meters along route # Maximum depth: 1935.317723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.675042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713020; longitude = -130.034184; duration = 428; initialDepth = 1874.555252; finalDepth = 1877.675042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6426809999998 # Actual altitude: 57.6426809999998 # Commanded vehicle depth: 1877.675042 # Seafloor depth: -1935.317723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051550 meters # Minimum depth: 1924.555252 meters looking forward 100.000000 meters along route # Maximum depth: 1929.757765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.555252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713982; longitude = -130.034120; duration = 428; initialDepth = 1851.982919; finalDepth = 1874.555252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6426809999998 # Actual altitude: 57.6426809999998 # Commanded vehicle depth: 1874.555252 # Seafloor depth: -1927.560074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051562 meters # Minimum depth: 1901.982919 meters looking forward 100.000000 meters along route # Maximum depth: 1923.819006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.982919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714944; longitude = -130.034056; duration = 428; initialDepth = 1843.906328; finalDepth = 1851.982919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.8360869999999 # Actual altitude: 71.8360869999999 # Commanded vehicle depth: 1851.982919 # Seafloor depth: -1923.819006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051574 meters # Minimum depth: 1893.906328 meters looking forward 100.000000 meters along route # Maximum depth: 1909.863704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.906328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715907; longitude = -130.033993; duration = 428; initialDepth = 1847.479710; finalDepth = 1843.906328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.8360869999999 # Actual altitude: 71.8360869999999 # Commanded vehicle depth: 1843.906328 # Seafloor depth: -1899.563459 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051588 meters # Minimum depth: 1897.479710 meters looking forward 100.000000 meters along route # Maximum depth: 1920.282379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.479710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716869; longitude = -130.033929; duration = 428; initialDepth = 1871.207238; finalDepth = 1847.479710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1761779999999 # Actual altitude: 62.1761779999999 # Commanded vehicle depth: 1847.47971 # Seafloor depth: -1909.655888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051601 meters # Minimum depth: 1921.207238 meters looking forward 100.000000 meters along route # Maximum depth: 1925.442246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.207238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717832; longitude = -130.033865; duration = 428; initialDepth = 1875.466332; finalDepth = 1871.207238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1761779999999 # Actual altitude: 62.1761779999999 # Commanded vehicle depth: 1871.207238 # Seafloor depth: -1921.207238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051613 meters # Minimum depth: 1925.466332 meters looking forward 100.000000 meters along route # Maximum depth: 1933.750836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.466332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718794; longitude = -130.033802; duration = 428; initialDepth = 1859.195448; finalDepth = 1875.466332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1875.466332 # Seafloor depth: -1925.466332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051626 meters # Minimum depth: 1909.195448 meters looking forward 100.000000 meters along route # Maximum depth: 1941.329133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.195448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719757; longitude = -130.033738; duration = 428; initialDepth = 1850.476614; finalDepth = 1859.195448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.146442 # Actual altitude: 75.146442 # Commanded vehicle depth: 1859.195448 # Seafloor depth: -1934.341890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051639 meters # Minimum depth: 1900.476614 meters looking forward 100.000000 meters along route # Maximum depth: 1918.628356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.476614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720719; longitude = -130.033674; duration = 428; initialDepth = 1851.625387; finalDepth = 1850.476614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.146442 # Actual altitude: 75.146442 # Commanded vehicle depth: 1850.476614 # Seafloor depth: -1908.387301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.819420 meters # Minimum depth: 1901.625387 meters looking forward 100.000000 meters along route # Maximum depth: 1925.481705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.625387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721682; longitude = -130.033610; duration = 427; initialDepth = 1841.989964; finalDepth = 1851.625387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.256222 # Actual altitude: 67.256222 # Commanded vehicle depth: 1851.625387 # Seafloor depth: -1918.881609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.147117 meters # Minimum depth: 1891.989964 meters looking forward 100.000000 meters along route # Maximum depth: 1910.270954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.989964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722642; longitude = -130.033547; duration = 400; initialDepth = 1826.837158; finalDepth = 1841.989964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.28099 # Actual altitude: 68.28099 # Commanded vehicle depth: 1841.989964 # Seafloor depth: -1910.270954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051677 meters # Minimum depth: 1876.837158 meters looking forward 100.000000 meters along route # Maximum depth: 1930.262257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.837158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723542; longitude = -130.033487; duration = 428; initialDepth = 1821.586528; finalDepth = 1826.837158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.6555019999998 # Actual altitude: 86.6555019999998 # Commanded vehicle depth: 1826.837158 # Seafloor depth: -1913.492660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051689 meters # Minimum depth: 1871.586528 meters looking forward 100.000000 meters along route # Maximum depth: 1891.268080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.586528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724505; longitude = -130.033423; duration = 428; initialDepth = 1818.483509; finalDepth = 1821.586528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.6555019999998 # Actual altitude: 86.6555019999998 # Commanded vehicle depth: 1821.586528 # Seafloor depth: -1874.288734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051702 meters # Minimum depth: 1868.483509 meters looking forward 100.000000 meters along route # Maximum depth: 1892.310071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.483509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725467; longitude = -130.033360; duration = 428; initialDepth = 1815.496899; finalDepth = 1818.483509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9036560000002 # Actual altitude: 71.9036560000002 # Commanded vehicle depth: 1818.483509 # Seafloor depth: -1890.387165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051714 meters # Minimum depth: 1865.496899 meters looking forward 100.000000 meters along route # Maximum depth: 1875.430685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.496899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726430; longitude = -130.033296; duration = 428; initialDepth = 1817.760167; finalDepth = 1815.496899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9036560000002 # Actual altitude: 71.9036560000002 # Commanded vehicle depth: 1815.496899 # Seafloor depth: -1873.109395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051728 meters # Minimum depth: 1867.760167 meters looking forward 100.000000 meters along route # Maximum depth: 1883.238624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.760167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727392; longitude = -130.033232; duration = 428; initialDepth = 1827.105754; finalDepth = 1817.760167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.612496 # Actual altitude: 57.612496 # Commanded vehicle depth: 1817.760167 # Seafloor depth: -1875.313531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051740 meters # Minimum depth: 1877.105754 meters looking forward 100.000000 meters along route # Maximum depth: 1891.137408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.105754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728354; longitude = -130.033169; duration = 428; initialDepth = 1822.088605; finalDepth = 1827.105754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.290878 # Actual altitude: 58.290878 # Commanded vehicle depth: 1827.105754 # Seafloor depth: -1885.396632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051753 meters # Minimum depth: 1872.088605 meters looking forward 100.000000 meters along route # Maximum depth: 1891.223993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.088605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729317; longitude = -130.033105; duration = 428; initialDepth = 1843.470528; finalDepth = 1822.088605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.290878 # Actual altitude: 58.290878 # Commanded vehicle depth: 1822.088605 # Seafloor depth: -1875.703696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051766 meters # Minimum depth: 1893.470528 meters looking forward 100.000000 meters along route # Maximum depth: 1928.413768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.470528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730279; longitude = -130.033041; duration = 428; initialDepth = 1879.383046; finalDepth = 1843.470528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6150910000001 # Actual altitude: 53.6150910000001 # Commanded vehicle depth: 1843.470528 # Seafloor depth: -1893.470528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051778 meters # Minimum depth: 1929.383046 meters looking forward 100.000000 meters along route # Maximum depth: 1947.086947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.383046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731242; longitude = -130.032977; duration = 428; initialDepth = 1902.204230; finalDepth = 1879.383046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1879.383046 # Seafloor depth: -1929.383046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051792 meters # Minimum depth: 1952.204230 meters looking forward 100.000000 meters along route # Maximum depth: 1956.400220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.204230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732204; longitude = -130.032914; duration = 428; initialDepth = 1904.561801; finalDepth = 1902.204230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1902.20423 # Seafloor depth: -1952.204230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051804 meters # Minimum depth: 1954.561801 meters looking forward 100.000000 meters along route # Maximum depth: 1958.682297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.561801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733167; longitude = -130.032850; duration = 428; initialDepth = 1885.803916; finalDepth = 1904.561801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.097123 # Actual altitude: 52.097123 # Commanded vehicle depth: 1904.561801 # Seafloor depth: -1956.658924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051817 meters # Minimum depth: 1935.803916 meters looking forward 100.000000 meters along route # Maximum depth: 1956.133424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.803916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734129; longitude = -130.032786; duration = 428; initialDepth = 1868.710295; finalDepth = 1885.803916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.329508 # Actual altitude: 70.329508 # Commanded vehicle depth: 1885.803916 # Seafloor depth: -1956.133424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051829 meters # Minimum depth: 1918.710295 meters looking forward 100.000000 meters along route # Maximum depth: 1936.206927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.710295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735091; longitude = -130.032723; duration = 428; initialDepth = 1867.507911; finalDepth = 1868.710295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.329508 # Actual altitude: 70.329508 # Commanded vehicle depth: 1868.710295 # Seafloor depth: -1936.206927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051843 meters # Minimum depth: 1917.507911 meters looking forward 100.000000 meters along route # Maximum depth: 1921.414394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.507911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736054; longitude = -130.032659; duration = 428; initialDepth = 1868.809907; finalDepth = 1867.507911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.4966319999999 # Actual altitude: 67.4966319999999 # Commanded vehicle depth: 1867.507911 # Seafloor depth: -1919.226809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051855 meters # Minimum depth: 1918.809907 meters looking forward 100.000000 meters along route # Maximum depth: 1928.407471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.809907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737016; longitude = -130.032595; duration = 428; initialDepth = 1864.126631; finalDepth = 1868.809907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7188980000001 # Actual altitude: 51.7188980000001 # Commanded vehicle depth: 1868.809907 # Seafloor depth: -1918.809907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051868 meters # Minimum depth: 1914.126631 meters looking forward 100.000000 meters along route # Maximum depth: 1926.965471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.126631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737979; longitude = -130.032531; duration = 428; initialDepth = 1847.881340; finalDepth = 1864.126631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8388399999999 # Actual altitude: 62.8388399999999 # Commanded vehicle depth: 1864.126631 # Seafloor depth: -1926.965471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051881 meters # Minimum depth: 1897.881340 meters looking forward 100.000000 meters along route # Maximum depth: 1921.206416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.881340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738941; longitude = -130.032468; duration = 428; initialDepth = 1821.486265; finalDepth = 1847.881340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.066644 # Actual altitude: 66.066644 # Commanded vehicle depth: 1847.88134 # Seafloor depth: -1913.947984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051894 meters # Minimum depth: 1871.486265 meters looking forward 100.000000 meters along route # Maximum depth: 1903.869929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.486265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739904; longitude = -130.032404; duration = 428; initialDepth = 1811.196294; finalDepth = 1821.486265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2557710000001 # Actual altitude: 75.2557710000001 # Commanded vehicle depth: 1821.486265 # Seafloor depth: -1896.742036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051906 meters # Minimum depth: 1861.196294 meters looking forward 100.000000 meters along route # Maximum depth: 1878.608630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.196294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740866; longitude = -130.032340; duration = 428; initialDepth = 1823.473081; finalDepth = 1811.196294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2557710000001 # Actual altitude: 75.2557710000001 # Commanded vehicle depth: 1811.196294 # Seafloor depth: -1861.196294 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051919 meters # Minimum depth: 1873.473081 meters looking forward 100.000000 meters along route # Maximum depth: 1879.440559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.473081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741829; longitude = -130.032277; duration = 428; initialDepth = 1813.595040; finalDepth = 1823.473081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6978549999999 # Actual altitude: 51.6978549999999 # Commanded vehicle depth: 1823.473081 # Seafloor depth: -1875.170936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051932 meters # Minimum depth: 1863.595040 meters looking forward 100.000000 meters along route # Maximum depth: 1880.391059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.595040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742791; longitude = -130.032213; duration = 428; initialDepth = 1794.595091; finalDepth = 1813.595040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.487038 # Actual altitude: 66.487038 # Commanded vehicle depth: 1813.59504 # Seafloor depth: -1880.082078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051945 meters # Minimum depth: 1844.595091 meters looking forward 100.000000 meters along route # Maximum depth: 1874.006937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.595091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743753; longitude = -130.032149; duration = 428; initialDepth = 1724.512058; finalDepth = 1794.595091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5452240000002 # Actual altitude: 75.5452240000002 # Commanded vehicle depth: 1794.595091 # Seafloor depth: -1870.140315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051958 meters # Minimum depth: 1774.512058 meters looking forward 100.000000 meters along route # Maximum depth: 1840.932517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.512058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744716; longitude = -130.032085; duration = 428; initialDepth = 1679.093690; finalDepth = 1724.512058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.420459 # Actual altitude: 100 # Commanded vehicle depth: 1724.512058 # Seafloor depth: -1840.932517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051970 meters # Minimum depth: 1729.093690 meters looking forward 100.000000 meters along route # Maximum depth: 1771.558277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.093690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745678; longitude = -130.032022; duration = 428; initialDepth = 1670.391653; finalDepth = 1679.093690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.420459 # Actual altitude: 100 # Commanded vehicle depth: 1679.09369 # Seafloor depth: -1770.797364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051983 meters # Minimum depth: 1720.391653 meters looking forward 100.000000 meters along route # Maximum depth: 1732.113647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.391653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746641; longitude = -130.031958; duration = 428; initialDepth = 1617.486747; finalDepth = 1670.391653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.7036740000001 # Actual altitude: 91.7036740000001 # Commanded vehicle depth: 1670.391653 # Seafloor depth: -1731.659229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.051996 meters # Minimum depth: 1667.486747 meters looking forward 100.000000 meters along route # Maximum depth: 1719.670887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.486747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747603; longitude = -130.031894; duration = 428; initialDepth = 1612.674684; finalDepth = 1617.486747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.18414 # Actual altitude: 100 # Commanded vehicle depth: 1617.486747 # Seafloor depth: -1719.670887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052009 meters # Minimum depth: 1662.674684 meters looking forward 100.000000 meters along route # Maximum depth: 1691.929566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.674684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748566; longitude = -130.031831; duration = 428; initialDepth = 1635.042649; finalDepth = 1612.674684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.18414 # Actual altitude: 100 # Commanded vehicle depth: 1612.674684 # Seafloor depth: -1665.927047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052022 meters # Minimum depth: 1685.042649 meters looking forward 100.000000 meters along route # Maximum depth: 1698.380695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.042649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749528; longitude = -130.031767; duration = 428; initialDepth = 1647.632442; finalDepth = 1635.042649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.69282 # Actual altitude: 55.69282 # Commanded vehicle depth: 1635.042649 # Seafloor depth: -1690.735469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052034 meters # Minimum depth: 1697.632442 meters looking forward 100.000000 meters along route # Maximum depth: 1736.087321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.632442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750490; longitude = -130.031703; duration = 428; initialDepth = 1670.309245; finalDepth = 1647.632442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.69282 # Actual altitude: 55.69282 # Commanded vehicle depth: 1647.632442 # Seafloor depth: -1697.895996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052047 meters # Minimum depth: 1720.309245 meters looking forward 100.000000 meters along route # Maximum depth: 1743.165515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.309245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751453; longitude = -130.031639; duration = 428; initialDepth = 1687.978079; finalDepth = 1670.309245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3796080000002 # Actual altitude: 65.3796080000002 # Commanded vehicle depth: 1670.309245 # Seafloor depth: -1735.688853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052060 meters # Minimum depth: 1737.978079 meters looking forward 100.000000 meters along route # Maximum depth: 1753.615340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.978079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752415; longitude = -130.031576; duration = 428; initialDepth = 1702.620571; finalDepth = 1687.978079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3796080000002 # Actual altitude: 65.3796080000002 # Commanded vehicle depth: 1687.978079 # Seafloor depth: -1737.978079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052073 meters # Minimum depth: 1752.620571 meters looking forward 100.000000 meters along route # Maximum depth: 1759.545280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.620571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753378; longitude = -130.031512; duration = 428; initialDepth = 1700.889705; finalDepth = 1702.620571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.503289 # Actual altitude: 51.503289 # Commanded vehicle depth: 1702.620571 # Seafloor depth: -1754.123860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052085 meters # Minimum depth: 1750.889705 meters looking forward 100.000000 meters along route # Maximum depth: 1770.316950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.889705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754340; longitude = -130.031448; duration = 428; initialDepth = 1719.418264; finalDepth = 1700.889705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.781356 # Actual altitude: 51.781356 # Commanded vehicle depth: 1700.889705 # Seafloor depth: -1752.671061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052099 meters # Minimum depth: 1769.418264 meters looking forward 100.000000 meters along route # Maximum depth: 1789.542529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.418264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755303; longitude = -130.031384; duration = 428; initialDepth = 1737.081844; finalDepth = 1719.418264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.781356 # Actual altitude: 51.781356 # Commanded vehicle depth: 1719.418264 # Seafloor depth: -1769.418264 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052111 meters # Minimum depth: 1787.081844 meters looking forward 100.000000 meters along route # Maximum depth: 1804.361553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.081844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756265; longitude = -130.031321; duration = 428; initialDepth = 1743.254439; finalDepth = 1737.081844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.081844 # Seafloor depth: -1787.081844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052123 meters # Minimum depth: 1793.254439 meters looking forward 100.000000 meters along route # Maximum depth: 1818.160585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.254439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757228; longitude = -130.031257; duration = 428; initialDepth = 1760.225094; finalDepth = 1743.254439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.274412 # Actual altitude: 53.274412 # Commanded vehicle depth: 1743.254439 # Seafloor depth: -1796.528851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052137 meters # Minimum depth: 1810.225094 meters looking forward 100.000000 meters along route # Maximum depth: 1825.449171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.225094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758190; longitude = -130.031193; duration = 428; initialDepth = 1750.671483; finalDepth = 1760.225094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4645860000001 # Actual altitude: 59.4645860000001 # Commanded vehicle depth: 1760.225094 # Seafloor depth: -1819.689680 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052150 meters # Minimum depth: 1800.671483 meters looking forward 100.000000 meters along route # Maximum depth: 1810.840112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.671483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759152; longitude = -130.031130; duration = 428; initialDepth = 1735.566330; finalDepth = 1750.671483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.168629 # Actual altitude: 60.168629 # Commanded vehicle depth: 1750.671483 # Seafloor depth: -1810.840112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052162 meters # Minimum depth: 1785.566330 meters looking forward 100.000000 meters along route # Maximum depth: 1805.079074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.566330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760115; longitude = -130.031066; duration = 428; initialDepth = 1721.484017; finalDepth = 1735.566330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8695869999999 # Actual altitude: 65.8695869999999 # Commanded vehicle depth: 1735.56633 # Seafloor depth: -1801.435917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052175 meters # Minimum depth: 1771.484017 meters looking forward 100.000000 meters along route # Maximum depth: 1786.095581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.484017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761077; longitude = -130.031002; duration = 428; initialDepth = 1734.018467; finalDepth = 1721.484017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8695869999999 # Actual altitude: 65.8695869999999 # Commanded vehicle depth: 1721.484017 # Seafloor depth: -1786.095581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052188 meters # Minimum depth: 1784.018467 meters looking forward 100.000000 meters along route # Maximum depth: 1806.621740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.018467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762040; longitude = -130.030938; duration = 428; initialDepth = 1742.621068; finalDepth = 1734.018467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.611564 # Actual altitude: 64.611564 # Commanded vehicle depth: 1734.018467 # Seafloor depth: -1784.018467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052200 meters # Minimum depth: 1792.621068 meters looking forward 100.000000 meters along route # Maximum depth: 1809.928830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.621068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763002; longitude = -130.030875; duration = 428; initialDepth = 1763.345727; finalDepth = 1742.621068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6620360000002 # Actual altitude: 59.6620360000002 # Commanded vehicle depth: 1742.621068 # Seafloor depth: -1802.283104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052214 meters # Minimum depth: 1813.345727 meters looking forward 100.000000 meters along route # Maximum depth: 1851.260786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.345727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763965; longitude = -130.030811; duration = 428; initialDepth = 1803.479802; finalDepth = 1763.345727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6620360000002 # Actual altitude: 59.6620360000002 # Commanded vehicle depth: 1763.345727 # Seafloor depth: -1813.345727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052226 meters # Minimum depth: 1853.479802 meters looking forward 100.000000 meters along route # Maximum depth: 1871.078970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.479802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764927; longitude = -130.030747; duration = 428; initialDepth = 1813.861706; finalDepth = 1803.479802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.17957 # Actual altitude: 50.17957 # Commanded vehicle depth: 1803.479802 # Seafloor depth: -1853.659372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052239 meters # Minimum depth: 1863.861706 meters looking forward 100.000000 meters along route # Maximum depth: 1871.216439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.861706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765889; longitude = -130.030684; duration = 428; initialDepth = 1805.429731; finalDepth = 1813.861706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3547330000001 # Actual altitude: 57.3547330000001 # Commanded vehicle depth: 1813.861706 # Seafloor depth: -1871.216439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052252 meters # Minimum depth: 1855.429731 meters looking forward 100.000000 meters along route # Maximum depth: 1865.336942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.429731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766852; longitude = -130.030620; duration = 428; initialDepth = 1809.786453; finalDepth = 1805.429731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.411781 # Actual altitude: 59.411781 # Commanded vehicle depth: 1805.429731 # Seafloor depth: -1864.841512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.052264 meters # Minimum depth: 1859.786453 meters looking forward 100.000000 meters along route # Maximum depth: 1883.119992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.786453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767814; longitude = -130.030556; duration = 428; initialDepth = 1833.079859; finalDepth = 1809.786453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.411781 # Actual altitude: 59.411781 # Commanded vehicle depth: 1809.786453 # Seafloor depth: -1859.786453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.131594 meters # Minimum depth: 1883.079859 meters looking forward 100.000000 meters along route # Maximum depth: 1919.383203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.079859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768777; longitude = -130.030492; duration = 412; initialDepth = 1869.341309; finalDepth = 1833.079859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1833.079859 # Seafloor depth: -1883.079859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 12 # Segment length 157.928059 meters # Minimum depth: 1919.341309 meters looking forward 100.000000 meters along route # Maximum depth: 1940.181214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.341309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769704; longitude = -130.030431; duration = 631; # abortOnTimeout = True; initialDepth = 1865.406290; finalDepth = 1869.341309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1869.341309 # Seafloor depth: -1919.341309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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 11 # Segment length 124.525111 meters # Minimum depth: 1915.406290 meters looking forward 100.000000 meters along route # Maximum depth: 1938.192537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.406290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770153; longitude = -130.032358; duration = 498; # abortOnTimeout = True; initialDepth = 1839.594602; finalDepth = 1865.406290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.344229 # Actual altitude: 70.344229 # Commanded vehicle depth: 1865.40629 # Seafloor depth: -1935.750519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.050865 meters # Minimum depth: 1889.594602 meters looking forward 100.000000 meters along route # Maximum depth: 1911.125243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.594602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769033; longitude = -130.032432; duration = 428; initialDepth = 1833.350167; finalDepth = 1839.594602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.5306410000001 # Actual altitude: 71.5306410000001 # Commanded vehicle depth: 1839.594602 # Seafloor depth: -1911.125243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050852 meters # Minimum depth: 1883.350167 meters looking forward 100.000000 meters along route # Maximum depth: 1891.717928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.350167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768071; longitude = -130.032495; duration = 428; initialDepth = 1833.332613; finalDepth = 1833.350167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.5306410000001 # Actual altitude: 71.5306410000001 # Commanded vehicle depth: 1833.350167 # Seafloor depth: -1891.717928 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050840 meters # Minimum depth: 1883.332613 meters looking forward 100.000000 meters along route # Maximum depth: 1898.838257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.332613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767109; longitude = -130.032558; duration = 428; initialDepth = 1836.379986; finalDepth = 1833.332613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.367761 # Actual altitude: 58.367761 # Commanded vehicle depth: 1833.332613 # Seafloor depth: -1885.764071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050826 meters # Minimum depth: 1886.379986 meters looking forward 100.000000 meters along route # Maximum depth: 1900.380677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.379986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766146; longitude = -130.032622; duration = 428; initialDepth = 1802.714735; finalDepth = 1836.379986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.621905 # Actual altitude: 63.621905 # Commanded vehicle depth: 1836.379986 # Seafloor depth: -1900.001891 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050814 meters # Minimum depth: 1852.714735 meters looking forward 100.000000 meters along route # Maximum depth: 1883.651273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.714735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765184; longitude = -130.032685; duration = 428; initialDepth = 1781.547400; finalDepth = 1802.714735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9365379999999 # Actual altitude: 80.9365379999999 # Commanded vehicle depth: 1802.714735 # Seafloor depth: -1883.651273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050801 meters # Minimum depth: 1831.547400 meters looking forward 100.000000 meters along route # Maximum depth: 1852.681790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.547400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764221; longitude = -130.032748; duration = 428; initialDepth = 1749.963535; finalDepth = 1781.547400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9365379999999 # Actual altitude: 80.9365379999999 # Commanded vehicle depth: 1781.5474 # Seafloor depth: -1852.681790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050788 meters # Minimum depth: 1799.963535 meters looking forward 100.000000 meters along route # Maximum depth: 1843.365920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.963535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763259; longitude = -130.032812; duration = 428; initialDepth = 1717.223787; finalDepth = 1749.963535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.7793979999999 # Actual altitude: 92.7793979999999 # Commanded vehicle depth: 1749.963535 # Seafloor depth: -1842.742933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050775 meters # Minimum depth: 1767.223787 meters looking forward 100.000000 meters along route # Maximum depth: 1798.275441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.223787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762296; longitude = -130.032875; duration = 428; initialDepth = 1709.970319; finalDepth = 1717.223787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.7793979999999 # Actual altitude: 92.7793979999999 # Commanded vehicle depth: 1717.223787 # Seafloor depth: -1798.275441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050763 meters # Minimum depth: 1759.970319 meters looking forward 100.000000 meters along route # Maximum depth: 1778.276726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.970319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761334; longitude = -130.032938; duration = 428; initialDepth = 1692.923623; finalDepth = 1709.970319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.0516540000001 # Actual altitude: 81.0516540000001 # Commanded vehicle depth: 1709.970319 # Seafloor depth: -1767.997155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050749 meters # Minimum depth: 1742.923623 meters looking forward 100.000000 meters along route # Maximum depth: 1765.066684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.923623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760372; longitude = -130.033002; duration = 428; initialDepth = 1706.636249; finalDepth = 1692.923623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.143061 # Actual altitude: 72.143061 # Commanded vehicle depth: 1692.923623 # Seafloor depth: -1765.066684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050737 meters # Minimum depth: 1756.636249 meters looking forward 100.000000 meters along route # Maximum depth: 1803.473249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.636249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759409; longitude = -130.033065; duration = 428; initialDepth = 1756.554827; finalDepth = 1706.636249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.143061 # Actual altitude: 72.143061 # Commanded vehicle depth: 1706.636249 # Seafloor depth: -1756.636249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050723 meters # Minimum depth: 1809.166117 meters looking forward 100.000000 meters along route # Maximum depth: 1841.303312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.554827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758447; longitude = -130.033128; duration = 428; initialDepth = 1783.718524; finalDepth = 1756.554827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.611290495797 # Actual altitude: 52.611290495797 # Commanded vehicle depth: 1756.5548265042 # Seafloor depth: -1809.166117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050711 meters # Minimum depth: 1833.718524 meters looking forward 100.000000 meters along route # Maximum depth: 1869.400008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.718524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757484; longitude = -130.033191; duration = 428; initialDepth = 1793.509745; finalDepth = 1783.718524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1629290000001 # Actual altitude: 59.1629290000001 # Commanded vehicle depth: 1783.718524 # Seafloor depth: -1842.881453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050699 meters # Minimum depth: 1843.509745 meters looking forward 100.000000 meters along route # Maximum depth: 1868.604449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.509745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756522; longitude = -130.033255; duration = 428; initialDepth = 1756.470405; finalDepth = 1793.509745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0947039999999 # Actual altitude: 75.0947039999999 # Commanded vehicle depth: 1793.509745 # Seafloor depth: -1868.604449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050685 meters # Minimum depth: 1806.470405 meters looking forward 100.000000 meters along route # Maximum depth: 1841.266754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.470405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755559; longitude = -130.033318; duration = 428; initialDepth = 1743.541679; finalDepth = 1756.470405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.796349 # Actual altitude: 84.796349 # Commanded vehicle depth: 1756.470405 # Seafloor depth: -1841.266754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050672 meters # Minimum depth: 1793.541679 meters looking forward 100.000000 meters along route # Maximum depth: 1816.076660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.541679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754597; longitude = -130.033381; duration = 428; initialDepth = 1755.482838; finalDepth = 1743.541679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.796349 # Actual altitude: 84.796349 # Commanded vehicle depth: 1743.541679 # Seafloor depth: -1801.193423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050660 meters # Minimum depth: 1805.482838 meters looking forward 100.000000 meters along route # Maximum depth: 1817.221171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.482838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753634; longitude = -130.033445; duration = 428; initialDepth = 1734.565044; finalDepth = 1755.482838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.128821 # Actual altitude: 61.128821 # Commanded vehicle depth: 1755.482838 # Seafloor depth: -1816.611659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050647 meters # Minimum depth: 1784.565044 meters looking forward 100.000000 meters along route # Maximum depth: 1801.712384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.565044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752672; longitude = -130.033508; duration = 428; initialDepth = 1721.212581; finalDepth = 1734.565044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9910380000001 # Actual altitude: 66.9910380000001 # Commanded vehicle depth: 1734.565044 # Seafloor depth: -1801.556082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050634 meters # Minimum depth: 1771.212581 meters looking forward 100.000000 meters along route # Maximum depth: 1783.361452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.212581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751710; longitude = -130.033571; duration = 428; initialDepth = 1705.413865; finalDepth = 1721.212581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9910380000001 # Actual altitude: 66.9910380000001 # Commanded vehicle depth: 1721.212581 # Seafloor depth: -1783.361452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050621 meters # Minimum depth: 1755.413865 meters looking forward 100.000000 meters along route # Maximum depth: 1770.837010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.413865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750747; longitude = -130.033635; duration = 428; initialDepth = 1667.987084; finalDepth = 1705.413865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3315749999999 # Actual altitude: 65.3315749999999 # Commanded vehicle depth: 1705.413865 # Seafloor depth: -1770.745440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050608 meters # Minimum depth: 1717.987084 meters looking forward 100.000000 meters along route # Maximum depth: 1752.113055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.987084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749785; longitude = -130.033698; duration = 428; initialDepth = 1654.059529; finalDepth = 1667.987084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.1259709999999 # Actual altitude: 84.1259709999999 # Commanded vehicle depth: 1667.987084 # Seafloor depth: -1752.113055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050595 meters # Minimum depth: 1704.059529 meters looking forward 100.000000 meters along route # Maximum depth: 1732.931921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.059529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748822; longitude = -130.033761; duration = 428; initialDepth = 1686.655921; finalDepth = 1654.059529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.1259709999999 # Actual altitude: 84.1259709999999 # Commanded vehicle depth: 1654.059529 # Seafloor depth: -1713.552415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050583 meters # Minimum depth: 1736.655921 meters looking forward 100.000000 meters along route # Maximum depth: 1786.463552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.655921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747860; longitude = -130.033825; duration = 428; initialDepth = 1736.574427; finalDepth = 1686.655921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.492886 # Actual altitude: 59.492886 # Commanded vehicle depth: 1686.655921 # Seafloor depth: -1736.655921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050569 meters # Minimum depth: 1794.137573 meters looking forward 100.000000 meters along route # Maximum depth: 1809.623105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.574427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746897; longitude = -130.033888; duration = 428; initialDepth = 1748.740703; finalDepth = 1736.574427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.238170307179 # Actual altitude: 58.238170307179 # Commanded vehicle depth: 1736.57442669282 # Seafloor depth: -1794.812597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050557 meters # Minimum depth: 1798.740703 meters looking forward 100.000000 meters along route # Maximum depth: 1822.944839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.740703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745935; longitude = -130.033951; duration = 428; initialDepth = 1777.601186; finalDepth = 1748.740703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.789552 # Actual altitude: 58.789552 # Commanded vehicle depth: 1748.740703 # Seafloor depth: -1807.530255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050544 meters # Minimum depth: 1827.601186 meters looking forward 100.000000 meters along route # Maximum depth: 1848.913431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.601186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744973; longitude = -130.034015; duration = 428; initialDepth = 1795.009778; finalDepth = 1777.601186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.789552 # Actual altitude: 58.789552 # Commanded vehicle depth: 1777.601186 # Seafloor depth: -1827.601186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050532 meters # Minimum depth: 1845.009778 meters looking forward 100.000000 meters along route # Maximum depth: 1862.995535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.009778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744010; longitude = -130.034078; duration = 428; initialDepth = 1812.319726; finalDepth = 1795.009778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.698212 # Actual altitude: 50.698212 # Commanded vehicle depth: 1795.009778 # Seafloor depth: -1845.707990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050518 meters # Minimum depth: 1862.319726 meters looking forward 100.000000 meters along route # Maximum depth: 1878.038944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.319726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743048; longitude = -130.034141; duration = 428; initialDepth = 1811.675994; finalDepth = 1812.319726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.698212 # Actual altitude: 50.698212 # Commanded vehicle depth: 1812.319726 # Seafloor depth: -1862.406273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050505 meters # Minimum depth: 1861.675994 meters looking forward 100.000000 meters along route # Maximum depth: 1922.064468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.675994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742085; longitude = -130.034205; duration = 428; initialDepth = 1843.906945; finalDepth = 1811.675994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0865470000001 # Actual altitude: 50.0865470000001 # Commanded vehicle depth: 1811.675994 # Seafloor depth: -1861.675994 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050493 meters # Minimum depth: 1893.906945 meters looking forward 100.000000 meters along route # Maximum depth: 1938.307839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.906945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741123; longitude = -130.034268; duration = 428; initialDepth = 1876.734597; finalDepth = 1843.906945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5807690000001 # Actual altitude: 55.5807690000001 # Commanded vehicle depth: 1843.906945 # Seafloor depth: -1899.487714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050480 meters # Minimum depth: 1926.734597 meters looking forward 100.000000 meters along route # Maximum depth: 1939.100481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.734597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740160; longitude = -130.034331; duration = 428; initialDepth = 1874.438679; finalDepth = 1876.734597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3658840000001 # Actual altitude: 62.3658840000001 # Commanded vehicle depth: 1876.734597 # Seafloor depth: -1939.100481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050467 meters # Minimum depth: 1924.438679 meters looking forward 100.000000 meters along route # Maximum depth: 1932.907146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.438679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739198; longitude = -130.034395; duration = 428; initialDepth = 1874.174323; finalDepth = 1874.438679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3658840000001 # Actual altitude: 62.3658840000001 # Commanded vehicle depth: 1874.438679 # Seafloor depth: -1932.907146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050454 meters # Minimum depth: 1924.174323 meters looking forward 100.000000 meters along route # Maximum depth: 1953.322009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.174323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738235; longitude = -130.034458; duration = 428; initialDepth = 1889.567725; finalDepth = 1874.174323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4684669999999 # Actual altitude: 58.4684669999999 # Commanded vehicle depth: 1874.174323 # Seafloor depth: -1924.174323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050441 meters # Minimum depth: 1939.567725 meters looking forward 100.000000 meters along route # Maximum depth: 1951.127005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.567725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737273; longitude = -130.034521; duration = 428; initialDepth = 1889.923417; finalDepth = 1889.567725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5592799999999 # Actual altitude: 61.5592799999999 # Commanded vehicle depth: 1889.567725 # Seafloor depth: -1951.127005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050429 meters # Minimum depth: 1939.923417 meters looking forward 100.000000 meters along route # Maximum depth: 1948.726211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.923417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736311; longitude = -130.034585; duration = 428; initialDepth = 1890.747138; finalDepth = 1889.923417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5592799999999 # Actual altitude: 61.5592799999999 # Commanded vehicle depth: 1889.923417 # Seafloor depth: -1945.513283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050415 meters # Minimum depth: 1940.747138 meters looking forward 100.000000 meters along route # Maximum depth: 1948.058547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.747138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735348; longitude = -130.034648; duration = 428; initialDepth = 1887.176434; finalDepth = 1890.747138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.589866 # Actual altitude: 55.589866 # Commanded vehicle depth: 1890.747138 # Seafloor depth: -1940.747138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050403 meters # Minimum depth: 1937.176434 meters looking forward 100.000000 meters along route # Maximum depth: 1948.344346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.176434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734386; longitude = -130.034711; duration = 428; initialDepth = 1868.170168; finalDepth = 1887.176434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1679120000001 # Actual altitude: 61.1679120000001 # Commanded vehicle depth: 1887.176434 # Seafloor depth: -1948.344346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050390 meters # Minimum depth: 1918.170168 meters looking forward 100.000000 meters along route # Maximum depth: 1938.306530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.170168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733423; longitude = -130.034774; duration = 428; initialDepth = 1852.433730; finalDepth = 1868.170168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7755689999999 # Actual altitude: 69.7755689999999 # Commanded vehicle depth: 1868.170168 # Seafloor depth: -1937.945737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050377 meters # Minimum depth: 1902.433730 meters looking forward 100.000000 meters along route # Maximum depth: 1919.811438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.433730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732461; longitude = -130.034838; duration = 428; initialDepth = 1854.835234; finalDepth = 1852.433730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7755689999999 # Actual altitude: 69.7755689999999 # Commanded vehicle depth: 1852.43373 # Seafloor depth: -1919.811438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050364 meters # Minimum depth: 1904.835234 meters looking forward 100.000000 meters along route # Maximum depth: 1910.734937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.835234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731498; longitude = -130.034901; duration = 428; initialDepth = 1848.676347; finalDepth = 1854.835234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.377708 # Actual altitude: 67.377708 # Commanded vehicle depth: 1854.835234 # Seafloor depth: -1907.664233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050352 meters # Minimum depth: 1898.676347 meters looking forward 100.000000 meters along route # Maximum depth: 1921.397118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.676347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730536; longitude = -130.034964; duration = 428; initialDepth = 1832.691648; finalDepth = 1848.676347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9254779999999 # Actual altitude: 55.9254779999999 # Commanded vehicle depth: 1848.676347 # Seafloor depth: -1904.601825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050338 meters # Minimum depth: 1882.691648 meters looking forward 100.000000 meters along route # Maximum depth: 1900.200001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.691648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729574; longitude = -130.035028; duration = 428; initialDepth = 1838.858197; finalDepth = 1832.691648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.917567 # Actual altitude: 65.917567 # Commanded vehicle depth: 1832.691648 # Seafloor depth: -1898.609215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050326 meters # Minimum depth: 1888.858197 meters looking forward 100.000000 meters along route # Maximum depth: 1898.746871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.858197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728611; longitude = -130.035091; duration = 428; initialDepth = 1848.367014; finalDepth = 1838.858197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.917567 # Actual altitude: 65.917567 # Commanded vehicle depth: 1838.858197 # Seafloor depth: -1889.440412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050313 meters # Minimum depth: 1898.367014 meters looking forward 100.000000 meters along route # Maximum depth: 1911.389678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.367014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727649; longitude = -130.035154; duration = 428; initialDepth = 1851.548056; finalDepth = 1848.367014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8380490000002 # Actual altitude: 50.8380490000002 # Commanded vehicle depth: 1848.367014 # Seafloor depth: -1899.205063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050300 meters # Minimum depth: 1901.548056 meters looking forward 100.000000 meters along route # Maximum depth: 1919.464736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.548056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726686; longitude = -130.035218; duration = 428; initialDepth = 1845.293135; finalDepth = 1851.548056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5898979999999 # Actual altitude: 60.5898979999999 # Commanded vehicle depth: 1851.548056 # Seafloor depth: -1912.137954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050287 meters # Minimum depth: 1895.293135 meters looking forward 100.000000 meters along route # Maximum depth: 1903.432792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.293135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725724; longitude = -130.035281; duration = 428; initialDepth = 1849.896124; finalDepth = 1845.293135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5898979999999 # Actual altitude: 60.5898979999999 # Commanded vehicle depth: 1845.293135 # Seafloor depth: -1897.988936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 106.799434 meters # Minimum depth: 1899.896124 meters looking forward 100.000000 meters along route # Maximum depth: 1922.006345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.896124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724761; longitude = -130.035344; duration = 427; initialDepth = 1862.593739; finalDepth = 1849.896124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6958010000001 # Actual altitude: 52.6958010000001 # Commanded vehicle depth: 1849.896124 # Seafloor depth: -1899.896124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.164418 meters # Minimum depth: 1912.593739 meters looking forward 100.000000 meters along route # Maximum depth: 1922.498443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.593739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723801; longitude = -130.035408; duration = 400; initialDepth = 1853.821840; finalDepth = 1862.593739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7594800000002 # Actual altitude: 59.7594800000002 # Commanded vehicle depth: 1862.593739 # Seafloor depth: -1922.353219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050250 meters # Minimum depth: 1903.821840 meters looking forward 100.000000 meters along route # Maximum depth: 1924.711858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.821840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722901; longitude = -130.035467; duration = 428; initialDepth = 1866.668992; finalDepth = 1853.821840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7809999999999 # Actual altitude: 67.7809999999999 # Commanded vehicle depth: 1853.82184 # Seafloor depth: -1921.602840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050237 meters # Minimum depth: 1916.668992 meters looking forward 100.000000 meters along route # Maximum depth: 1951.589194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.668992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721938; longitude = -130.035530; duration = 428; initialDepth = 1854.038784; finalDepth = 1866.668992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7809999999999 # Actual altitude: 67.7809999999999 # Commanded vehicle depth: 1866.668992 # Seafloor depth: -1921.876139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050223 meters # Minimum depth: 1904.038784 meters looking forward 100.000000 meters along route # Maximum depth: 1911.911282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.038784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720976; longitude = -130.035593; duration = 428; initialDepth = 1854.267067; finalDepth = 1854.038784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.872498 # Actual altitude: 57.872498 # Commanded vehicle depth: 1854.038784 # Seafloor depth: -1911.911282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050211 meters # Minimum depth: 1904.267067 meters looking forward 100.000000 meters along route # Maximum depth: 1922.026001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.267067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720013; longitude = -130.035657; duration = 428; initialDepth = 1850.947588; finalDepth = 1854.267067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.872498 # Actual altitude: 57.872498 # Commanded vehicle depth: 1854.267067 # Seafloor depth: -1904.769691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050199 meters # Minimum depth: 1900.947588 meters looking forward 100.000000 meters along route # Maximum depth: 1935.234814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.947588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719051; longitude = -130.035720; duration = 428; initialDepth = 1850.147494; finalDepth = 1850.947588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.511534 # Actual altitude: 73.511534 # Commanded vehicle depth: 1850.947588 # Seafloor depth: -1924.459122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050185 meters # Minimum depth: 1900.147494 meters looking forward 100.000000 meters along route # Maximum depth: 1902.021909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.147494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718088; longitude = -130.035783; duration = 428; initialDepth = 1845.689637; finalDepth = 1850.147494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.511534 # Actual altitude: 73.511534 # Commanded vehicle depth: 1850.147494 # Seafloor depth: -1901.217799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050173 meters # Minimum depth: 1895.689637 meters looking forward 100.000000 meters along route # Maximum depth: 1908.765327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.689637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717126; longitude = -130.035847; duration = 428; initialDepth = 1851.241578; finalDepth = 1845.689637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.418036 # Actual altitude: 56.418036 # Commanded vehicle depth: 1845.689637 # Seafloor depth: -1902.107673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050159 meters # Minimum depth: 1901.241578 meters looking forward 100.000000 meters along route # Maximum depth: 1909.296078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.241578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716164; longitude = -130.035910; duration = 428; initialDepth = 1851.619004; finalDepth = 1851.241578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.826548 # Actual altitude: 57.826548 # Commanded vehicle depth: 1851.241578 # Seafloor depth: -1909.068126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050147 meters # Minimum depth: 1901.619004 meters looking forward 100.000000 meters along route # Maximum depth: 1914.982899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.619004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715201; longitude = -130.035973; duration = 428; initialDepth = 1858.284583; finalDepth = 1851.619004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.826548 # Actual altitude: 57.826548 # Commanded vehicle depth: 1851.619004 # Seafloor depth: -1902.462880 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050134 meters # Minimum depth: 1908.284583 meters looking forward 100.000000 meters along route # Maximum depth: 1923.642381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.284583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714239; longitude = -130.036037; duration = 428; initialDepth = 1851.056497; finalDepth = 1858.284583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.90725 # Actual altitude: 55.90725 # Commanded vehicle depth: 1858.284583 # Seafloor depth: -1914.191833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050121 meters # Minimum depth: 1901.056497 meters looking forward 100.000000 meters along route # Maximum depth: 1923.777259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.056497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713276; longitude = -130.036100; duration = 428; initialDepth = 1863.674480; finalDepth = 1851.056497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7160630000001 # Actual altitude: 65.7160630000001 # Commanded vehicle depth: 1851.056497 # Seafloor depth: -1916.772560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050109 meters # Minimum depth: 1913.674480 meters looking forward 100.000000 meters along route # Maximum depth: 1925.332938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.674480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712314; longitude = -130.036163; duration = 428; initialDepth = 1849.089369; finalDepth = 1863.674480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7160630000001 # Actual altitude: 65.7160630000001 # Commanded vehicle depth: 1863.67448 # Seafloor depth: -1924.362517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050095 meters # Minimum depth: 1899.089369 meters looking forward 100.000000 meters along route # Maximum depth: 1917.211041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.089369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711351; longitude = -130.036227; duration = 428; initialDepth = 1869.747599; finalDepth = 1849.089369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3375329999999 # Actual altitude: 64.3375329999999 # Commanded vehicle depth: 1849.089369 # Seafloor depth: -1913.426902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050083 meters # Minimum depth: 1919.747599 meters looking forward 100.000000 meters along route # Maximum depth: 1939.992405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.747599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710389; longitude = -130.036290; duration = 428; initialDepth = 1855.865496; finalDepth = 1869.747599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3375329999999 # Actual altitude: 64.3375329999999 # Commanded vehicle depth: 1869.747599 # Seafloor depth: -1919.747599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050069 meters # Minimum depth: 1905.865496 meters looking forward 100.000000 meters along route # Maximum depth: 1931.806262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.865496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709426; longitude = -130.036353; duration = 428; initialDepth = 1854.686331; finalDepth = 1855.865496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.318213 # Actual altitude: 68.318213 # Commanded vehicle depth: 1855.865496 # Seafloor depth: -1924.183709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050057 meters # Minimum depth: 1904.686331 meters looking forward 100.000000 meters along route # Maximum depth: 1910.975027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.686331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708464; longitude = -130.036417; duration = 428; initialDepth = 1858.722517; finalDepth = 1854.686331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.318213 # Actual altitude: 68.318213 # Commanded vehicle depth: 1854.686331 # Seafloor depth: -1906.132895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050045 meters # Minimum depth: 1908.722517 meters looking forward 100.000000 meters along route # Maximum depth: 1923.368577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.722517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707502; longitude = -130.036480; duration = 428; initialDepth = 1824.281748; finalDepth = 1858.722517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4465639999999 # Actual altitude: 51.4465639999999 # Commanded vehicle depth: 1858.722517 # Seafloor depth: -1909.236059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050031 meters # Minimum depth: 1874.281748 meters looking forward 100.000000 meters along route # Maximum depth: 1906.409414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.281748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706539; longitude = -130.036543; duration = 428; initialDepth = 1768.554726; finalDepth = 1824.281748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.1276659999999 # Actual altitude: 82.1276659999999 # Commanded vehicle depth: 1824.281748 # Seafloor depth: -1906.409414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.050018 meters # Minimum depth: 1818.554726 meters looking forward 100.000000 meters along route # Maximum depth: 1872.771231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.554726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705577; longitude = -130.036607; duration = 428; initialDepth = 1765.393018; finalDepth = 1768.554726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.216505 # Actual altitude: 100 # Commanded vehicle depth: 1768.554726 # Seafloor depth: -1872.771231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.362714 meters # Minimum depth: 1815.393018 meters looking forward 100.000000 meters along route # Maximum depth: 1847.264788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.393018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704614; longitude = -130.036670; duration = 413; initialDepth = 1779.102539; finalDepth = 1765.393018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 104.216505 # Actual altitude: 100 # Commanded vehicle depth: 1765.393018 # Seafloor depth: -1818.051985 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; 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 10 # Segment length 150.021061 meters # Minimum depth: 1829.102539 meters looking forward 100.000000 meters along route # Maximum depth: 1863.040229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.102539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703685; longitude = -130.036731; duration = 600; # abortOnTimeout = True; initialDepth = 1788.173854; finalDepth = 1779.102539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.6589670000001 # Actual altitude: 52.6589670000001 # Commanded vehicle depth: 1779.102539 # Seafloor depth: -1829.102539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.60; 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 125.013166 meters # Minimum depth: 1838.173854 meters looking forward 100.000000 meters along route # Maximum depth: 1868.470891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.173854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703747; longitude = -130.038656; duration = 500; # abortOnTimeout = True; initialDepth = 1751.358577; finalDepth = 1788.173854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9136090000002 # Actual altitude: 71.9136090000002 # Commanded vehicle depth: 1788.173854 # Seafloor depth: -1860.087463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.049950 meters # Minimum depth: 1801.358577 meters looking forward 100.000000 meters along route # Maximum depth: 1831.854741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.358577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704871; longitude = -130.038582; duration = 428; initialDepth = 1756.094287; finalDepth = 1751.358577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.158463 # Actual altitude: 80.158463 # Commanded vehicle depth: 1751.358577 # Seafloor depth: -1831.517040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.049963 meters # Minimum depth: 1806.094287 meters looking forward 100.000000 meters along route # Maximum depth: 1854.106114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.094287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705833; longitude = -130.038519; duration = 428; initialDepth = 1801.815284; finalDepth = 1756.094287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.158463 # Actual altitude: 80.158463 # Commanded vehicle depth: 1756.094287 # Seafloor depth: -1806.094287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.049976 meters # Minimum depth: 1851.815284 meters looking forward 100.000000 meters along route # Maximum depth: 1862.563512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.815284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706796; longitude = -130.038456; duration = 428; initialDepth = 1812.556892; finalDepth = 1801.815284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9954109999999 # Actual altitude: 53.9954109999999 # Commanded vehicle depth: 1801.815284 # Seafloor depth: -1855.810695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.049988 meters # Minimum depth: 1862.556892 meters looking forward 100.000000 meters along route # Maximum depth: 1866.826759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.556892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707758; longitude = -130.038392; duration = 428; initialDepth = 1793.029623; finalDepth = 1812.556892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9954109999999 # Actual altitude: 53.9954109999999 # Commanded vehicle depth: 1812.556892 # Seafloor depth: -1862.556892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050002 meters # Minimum depth: 1843.029623 meters looking forward 100.000000 meters along route # Maximum depth: 1864.331174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.029623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708721; longitude = -130.038329; duration = 428; initialDepth = 1789.451037; finalDepth = 1793.029623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5936380000001 # Actual altitude: 70.5936380000001 # Commanded vehicle depth: 1793.029623 # Seafloor depth: -1863.623261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050014 meters # Minimum depth: 1839.451037 meters looking forward 100.000000 meters along route # Maximum depth: 1884.804918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.451037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709683; longitude = -130.038266; duration = 428; initialDepth = 1837.383820; finalDepth = 1789.451037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5936380000001 # Actual altitude: 70.5936380000001 # Commanded vehicle depth: 1789.451037 # Seafloor depth: -1842.409484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050027 meters # Minimum depth: 1887.383820 meters looking forward 100.000000 meters along route # Maximum depth: 1897.482945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.383820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710646; longitude = -130.038202; duration = 428; initialDepth = 1861.676449; finalDepth = 1837.383820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.958447 # Actual altitude: 52.958447 # Commanded vehicle depth: 1837.38382 # Seafloor depth: -1887.383820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050040 meters # Minimum depth: 1911.676449 meters looking forward 100.000000 meters along route # Maximum depth: 1942.257405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.676449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711608; longitude = -130.038139; duration = 428; initialDepth = 1897.003176; finalDepth = 1861.676449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0042249999999 # Actual altitude: 51.0042249999999 # Commanded vehicle depth: 1861.676449 # Seafloor depth: -1912.680674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050053 meters # Minimum depth: 1947.003176 meters looking forward 100.000000 meters along route # Maximum depth: 1956.557011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.003176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712570; longitude = -130.038076; duration = 428; initialDepth = 1867.343273; finalDepth = 1897.003176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0042249999999 # Actual altitude: 51.0042249999999 # Commanded vehicle depth: 1897.003176 # Seafloor depth: -1947.003176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050065 meters # Minimum depth: 1917.343273 meters looking forward 100.000000 meters along route # Maximum depth: 1953.498235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.343273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713533; longitude = -130.038012; duration = 428; initialDepth = 1866.163233; finalDepth = 1867.343273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1549620000001 # Actual altitude: 86.1549620000001 # Commanded vehicle depth: 1867.343273 # Seafloor depth: -1953.498235 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050079 meters # Minimum depth: 1916.163233 meters looking forward 100.000000 meters along route # Maximum depth: 1922.119664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.163233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714495; longitude = -130.037949; duration = 428; initialDepth = 1871.297733; finalDepth = 1866.163233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.1549620000001 # Actual altitude: 86.1549620000001 # Commanded vehicle depth: 1866.163233 # Seafloor depth: -1918.580490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050091 meters # Minimum depth: 1921.297733 meters looking forward 100.000000 meters along route # Maximum depth: 1944.677161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.297733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715458; longitude = -130.037886; duration = 428; initialDepth = 1853.593565; finalDepth = 1871.297733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4172570000001 # Actual altitude: 52.4172570000001 # Commanded vehicle depth: 1871.297733 # Seafloor depth: -1921.297733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050104 meters # Minimum depth: 1903.593565 meters looking forward 100.000000 meters along route # Maximum depth: 1950.234996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.593565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716420; longitude = -130.037823; duration = 428; initialDepth = 1849.392202; finalDepth = 1853.593565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.3818630000001 # Actual altitude: 84.3818630000001 # Commanded vehicle depth: 1853.593565 # Seafloor depth: -1937.975428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050117 meters # Minimum depth: 1899.392202 meters looking forward 100.000000 meters along route # Maximum depth: 1925.149488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.392202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717383; longitude = -130.037759; duration = 428; initialDepth = 1864.901310; finalDepth = 1849.392202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.3818630000001 # Actual altitude: 84.3818630000001 # Commanded vehicle depth: 1849.392202 # Seafloor depth: -1899.392202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050130 meters # Minimum depth: 1914.901310 meters looking forward 100.000000 meters along route # Maximum depth: 1942.953893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.901310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718345; longitude = -130.037696; duration = 428; initialDepth = 1859.188768; finalDepth = 1864.901310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1864.90131 # Seafloor depth: -1914.901310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050142 meters # Minimum depth: 1909.188768 meters looking forward 100.000000 meters along route # Maximum depth: 1922.772512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.188768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719308; longitude = -130.037633; duration = 428; initialDepth = 1882.544531; finalDepth = 1859.188768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3714170000001 # Actual altitude: 60.3714170000001 # Commanded vehicle depth: 1859.188768 # Seafloor depth: -1919.560185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050156 meters # Minimum depth: 1932.544531 meters looking forward 100.000000 meters along route # Maximum depth: 1945.934739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.544531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720270; longitude = -130.037569; duration = 428; initialDepth = 1863.768361; finalDepth = 1882.544531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3714170000001 # Actual altitude: 60.3714170000001 # Commanded vehicle depth: 1882.544531 # Seafloor depth: -1935.682757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050168 meters # Minimum depth: 1913.768361 meters looking forward 100.000000 meters along route # Maximum depth: 1946.397225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.768361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721232; longitude = -130.037506; duration = 428; initialDepth = 1858.668581; finalDepth = 1863.768361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6994340000001 # Actual altitude: 78.6994340000001 # Commanded vehicle depth: 1863.768361 # Seafloor depth: -1942.467795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050181 meters # Minimum depth: 1908.668581 meters looking forward 100.000000 meters along route # Maximum depth: 1938.706951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.668581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722195; longitude = -130.037443; duration = 428; initialDepth = 1858.466219; finalDepth = 1858.668581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6994340000001 # Actual altitude: 78.6994340000001 # Commanded vehicle depth: 1858.668581 # Seafloor depth: -1934.424835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050194 meters # Minimum depth: 1908.466219 meters looking forward 100.000000 meters along route # Maximum depth: 1926.855190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.466219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723157; longitude = -130.037380; duration = 428; initialDepth = 1842.367832; finalDepth = 1858.466219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7562540000001 # Actual altitude: 75.7562540000001 # Commanded vehicle depth: 1858.466219 # Seafloor depth: -1912.759120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050207 meters # Minimum depth: 1892.367832 meters looking forward 100.000000 meters along route # Maximum depth: 1905.140341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.367832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724120; longitude = -130.037316; duration = 428; initialDepth = 1847.578850; finalDepth = 1842.367832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7725090000001 # Actual altitude: 62.7725090000001 # Commanded vehicle depth: 1842.367832 # Seafloor depth: -1905.140341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050220 meters # Minimum depth: 1897.578850 meters looking forward 100.000000 meters along route # Maximum depth: 1935.408117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.578850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725082; longitude = -130.037253; duration = 428; initialDepth = 1887.820186; finalDepth = 1847.578850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7725090000001 # Actual altitude: 62.7725090000001 # Commanded vehicle depth: 1847.57885 # Seafloor depth: -1897.578850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050232 meters # Minimum depth: 1937.820186 meters looking forward 100.000000 meters along route # Maximum depth: 1949.229039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.820186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726045; longitude = -130.037190; duration = 428; initialDepth = 1886.524275; finalDepth = 1887.820186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1887.820186 # Seafloor depth: -1937.820186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050246 meters # Minimum depth: 1936.524275 meters looking forward 100.000000 meters along route # Maximum depth: 1953.064164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.524275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727007; longitude = -130.037126; duration = 428; initialDepth = 1865.750149; finalDepth = 1886.524275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6002370000001 # Actual altitude: 62.6002370000001 # Commanded vehicle depth: 1886.524275 # Seafloor depth: -1949.124512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050258 meters # Minimum depth: 1915.750149 meters looking forward 100.000000 meters along route # Maximum depth: 1940.479581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.750149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727969; longitude = -130.037063; duration = 428; initialDepth = 1860.181521; finalDepth = 1865.750149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.7294320000001 # Actual altitude: 74.7294320000001 # Commanded vehicle depth: 1865.750149 # Seafloor depth: -1940.479581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050271 meters # Minimum depth: 1910.181521 meters looking forward 100.000000 meters along route # Maximum depth: 1915.396376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.181521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728932; longitude = -130.037000; duration = 428; initialDepth = 1861.019285; finalDepth = 1860.181521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.7294320000001 # Actual altitude: 74.7294320000001 # Commanded vehicle depth: 1860.181521 # Seafloor depth: -1915.396376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050284 meters # Minimum depth: 1911.019285 meters looking forward 100.000000 meters along route # Maximum depth: 1934.790615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.019285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729894; longitude = -130.036937; duration = 428; initialDepth = 1876.861781; finalDepth = 1861.019285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2148549999999 # Actual altitude: 55.2148549999999 # Commanded vehicle depth: 1861.019285 # Seafloor depth: -1911.409117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050296 meters # Minimum depth: 1926.861781 meters looking forward 100.000000 meters along route # Maximum depth: 1948.447371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.861781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730857; longitude = -130.036873; duration = 428; initialDepth = 1897.370186; finalDepth = 1876.861781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5926589999999 # Actual altitude: 52.5926589999999 # Commanded vehicle depth: 1876.861781 # Seafloor depth: -1929.454440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050310 meters # Minimum depth: 1947.370186 meters looking forward 100.000000 meters along route # Maximum depth: 1959.430520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.370186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731819; longitude = -130.036810; duration = 428; initialDepth = 1874.009369; finalDepth = 1897.370186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6875199999999 # Actual altitude: 52.6875199999999 # Commanded vehicle depth: 1897.370186 # Seafloor depth: -1950.057706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050322 meters # Minimum depth: 1924.009369 meters looking forward 100.000000 meters along route # Maximum depth: 1944.809566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.009369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732782; longitude = -130.036747; duration = 428; initialDepth = 1878.945482; finalDepth = 1874.009369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8001969999998 # Actual altitude: 70.8001969999998 # Commanded vehicle depth: 1874.009369 # Seafloor depth: -1944.809566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050336 meters # Minimum depth: 1928.945482 meters looking forward 100.000000 meters along route # Maximum depth: 1946.911751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.945482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733744; longitude = -130.036683; duration = 428; initialDepth = 1898.250733; finalDepth = 1878.945482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8001969999998 # Actual altitude: 70.8001969999998 # Commanded vehicle depth: 1878.945482 # Seafloor depth: -1928.945482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050348 meters # Minimum depth: 1948.250733 meters looking forward 100.000000 meters along route # Maximum depth: 1953.833000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.250733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734707; longitude = -130.036620; duration = 428; initialDepth = 1900.121164; finalDepth = 1898.250733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1898.250733 # Seafloor depth: -1948.250733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050360 meters # Minimum depth: 1950.121164 meters looking forward 100.000000 meters along route # Maximum depth: 1953.170804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.121164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735669; longitude = -130.036557; duration = 428; initialDepth = 1899.997035; finalDepth = 1900.121164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.516474 # Actual altitude: 52.516474 # Commanded vehicle depth: 1900.121164 # Seafloor depth: -1952.637638 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050374 meters # Minimum depth: 1949.997035 meters looking forward 100.000000 meters along route # Maximum depth: 1959.088570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.997035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736631; longitude = -130.036493; duration = 428; initialDepth = 1886.236610; finalDepth = 1899.997035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.516474 # Actual altitude: 52.516474 # Commanded vehicle depth: 1899.997035 # Seafloor depth: -1949.997035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050387 meters # Minimum depth: 1936.236610 meters looking forward 100.000000 meters along route # Maximum depth: 1957.398337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.236610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737594; longitude = -130.036430; duration = 428; initialDepth = 1875.353827; finalDepth = 1886.236610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1617270000002 # Actual altitude: 71.1617270000002 # Commanded vehicle depth: 1886.23661 # Seafloor depth: -1957.398337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050399 meters # Minimum depth: 1925.353827 meters looking forward 100.000000 meters along route # Maximum depth: 1936.344490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.353827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738556; longitude = -130.036367; duration = 428; initialDepth = 1865.452522; finalDepth = 1875.353827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1617270000002 # Actual altitude: 71.1617270000002 # Commanded vehicle depth: 1875.353827 # Seafloor depth: -1936.344490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050413 meters # Minimum depth: 1915.452522 meters looking forward 100.000000 meters along route # Maximum depth: 1924.262851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.452522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739519; longitude = -130.036304; duration = 428; initialDepth = 1870.182395; finalDepth = 1865.452522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.990663 # Actual altitude: 60.990663 # Commanded vehicle depth: 1865.452522 # Seafloor depth: -1921.701388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.286489 meters # Minimum depth: 1920.182395 meters looking forward 100.000000 meters along route # Maximum depth: 1930.032935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.182395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740481; longitude = -130.036240; duration = 425; initialDepth = 1856.884465; finalDepth = 1870.182395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2488659999999 # Actual altitude: 56.2488659999999 # Commanded vehicle depth: 1870.182395 # Seafloor depth: -1923.207534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.677677 meters # Minimum depth: 1906.884465 meters looking forward 100.000000 meters along route # Maximum depth: 1923.445523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.884465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741437; longitude = -130.036177; duration = 402; initialDepth = 1842.468703; finalDepth = 1856.884465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.561058 # Actual altitude: 66.561058 # Commanded vehicle depth: 1856.884465 # Seafloor depth: -1923.445523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050450 meters # Minimum depth: 1892.468703 meters looking forward 100.000000 meters along route # Maximum depth: 1908.991385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.468703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742342; longitude = -130.036118; duration = 428; initialDepth = 1833.575307; finalDepth = 1842.468703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.561058 # Actual altitude: 66.561058 # Commanded vehicle depth: 1842.468703 # Seafloor depth: -1905.263755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050463 meters # Minimum depth: 1883.575307 meters looking forward 100.000000 meters along route # Maximum depth: 1892.752635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.575307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743304; longitude = -130.036055; duration = 428; initialDepth = 1806.395996; finalDepth = 1833.575307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7950519999999 # Actual altitude: 62.7950519999999 # Commanded vehicle depth: 1833.575307 # Seafloor depth: -1892.438916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050476 meters # Minimum depth: 1856.395996 meters looking forward 100.000000 meters along route # Maximum depth: 1887.636295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.395996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744267; longitude = -130.035991; duration = 428; initialDepth = 1794.339340; finalDepth = 1806.395996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2402990000001 # Actual altitude: 81.2402990000001 # Commanded vehicle depth: 1806.395996 # Seafloor depth: -1887.636295 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050488 meters # Minimum depth: 1844.339340 meters looking forward 100.000000 meters along route # Maximum depth: 1857.079386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.339340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745229; longitude = -130.035928; duration = 428; initialDepth = 1786.935710; finalDepth = 1794.339340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.2402990000001 # Actual altitude: 81.2402990000001 # Commanded vehicle depth: 1794.33934 # Seafloor depth: -1857.079386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050502 meters # Minimum depth: 1836.935710 meters looking forward 100.000000 meters along route # Maximum depth: 1855.155664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.935710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746192; longitude = -130.035865; duration = 428; initialDepth = 1742.670784; finalDepth = 1786.935710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1316079999999 # Actual altitude: 64.1316079999999 # Commanded vehicle depth: 1786.93571 # Seafloor depth: -1851.067318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050514 meters # Minimum depth: 1792.670784 meters looking forward 100.000000 meters along route # Maximum depth: 1834.925806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.670784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747154; longitude = -130.035802; duration = 428; initialDepth = 1721.563966; finalDepth = 1742.670784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.2550220000001 # Actual altitude: 92.2550220000001 # Commanded vehicle depth: 1742.670784 # Seafloor depth: -1834.925806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050527 meters # Minimum depth: 1771.563966 meters looking forward 100.000000 meters along route # Maximum depth: 1787.393031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.563966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748116; longitude = -130.035738; duration = 428; initialDepth = 1737.278894; finalDepth = 1721.563966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.2550220000001 # Actual altitude: 92.2550220000001 # Commanded vehicle depth: 1721.563966 # Seafloor depth: -1787.393031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050540 meters # Minimum depth: 1787.278894 meters looking forward 100.000000 meters along route # Maximum depth: 1815.700739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.278894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749079; longitude = -130.035675; duration = 428; initialDepth = 1768.652528; finalDepth = 1737.278894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8290650000001 # Actual altitude: 65.8290650000001 # Commanded vehicle depth: 1737.278894 # Seafloor depth: -1787.278894 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050552 meters # Minimum depth: 1818.652528 meters looking forward 100.000000 meters along route # Maximum depth: 1840.717065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.652528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750041; longitude = -130.035612; duration = 428; initialDepth = 1792.441876; finalDepth = 1768.652528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.652528 # Seafloor depth: -1818.652528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050566 meters # Minimum depth: 1842.441876 meters looking forward 100.000000 meters along route # Maximum depth: 1863.990602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.441876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751004; longitude = -130.035548; duration = 428; initialDepth = 1783.766097; finalDepth = 1792.441876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1621359999999 # Actual altitude: 50.1621359999999 # Commanded vehicle depth: 1792.441876 # Seafloor depth: -1842.604012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050578 meters # Minimum depth: 1833.766097 meters looking forward 100.000000 meters along route # Maximum depth: 1864.278398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.766097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751966; longitude = -130.035485; duration = 428; initialDepth = 1772.614028; finalDepth = 1783.766097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.512301 # Actual altitude: 80.512301 # Commanded vehicle depth: 1783.766097 # Seafloor depth: -1864.278398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050591 meters # Minimum depth: 1822.614028 meters looking forward 100.000000 meters along route # Maximum depth: 1837.438994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.614028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752929; longitude = -130.035422; duration = 428; initialDepth = 1775.568660; finalDepth = 1772.614028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.512301 # Actual altitude: 80.512301 # Commanded vehicle depth: 1772.614028 # Seafloor depth: -1834.295463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050604 meters # Minimum depth: 1825.568660 meters looking forward 100.000000 meters along route # Maximum depth: 1852.264477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.568660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753891; longitude = -130.035358; duration = 428; initialDepth = 1804.973135; finalDepth = 1775.568660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.681435 # Actual altitude: 61.681435 # Commanded vehicle depth: 1775.56866 # Seafloor depth: -1825.568660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050617 meters # Minimum depth: 1854.973135 meters looking forward 100.000000 meters along route # Maximum depth: 1896.548229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.973135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754854; longitude = -130.035295; duration = 428; initialDepth = 1842.117921; finalDepth = 1804.973135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1804.973135 # Seafloor depth: -1854.973135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050630 meters # Minimum depth: 1892.117921 meters looking forward 100.000000 meters along route # Maximum depth: 1911.355938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.117921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755816; longitude = -130.035232; duration = 428; initialDepth = 1836.058852; finalDepth = 1842.117921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8891799999999 # Actual altitude: 53.8891799999999 # Commanded vehicle depth: 1842.117921 # Seafloor depth: -1896.007101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050643 meters # Minimum depth: 1886.058852 meters looking forward 100.000000 meters along route # Maximum depth: 1910.168766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.058852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756778; longitude = -130.035169; duration = 428; initialDepth = 1789.525773; finalDepth = 1836.058852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1099140000001 # Actual altitude: 74.1099140000001 # Commanded vehicle depth: 1836.058852 # Seafloor depth: -1910.168766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050655 meters # Minimum depth: 1839.525773 meters looking forward 100.000000 meters along route # Maximum depth: 1885.976144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.525773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757741; longitude = -130.035105; duration = 428; initialDepth = 1758.878729; finalDepth = 1789.525773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.4503709999999 # Actual altitude: 96.4503709999999 # Commanded vehicle depth: 1789.525773 # Seafloor depth: -1885.976144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050668 meters # Minimum depth: 1808.878729 meters looking forward 100.000000 meters along route # Maximum depth: 1844.415274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.878729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758703; longitude = -130.035042; duration = 428; initialDepth = 1741.688985; finalDepth = 1758.878729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.4503709999999 # Actual altitude: 96.4503709999999 # Commanded vehicle depth: 1758.878729 # Seafloor depth: -1842.145200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050682 meters # Minimum depth: 1791.688985 meters looking forward 100.000000 meters along route # Maximum depth: 1810.102779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.688985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759666; longitude = -130.034979; duration = 428; initialDepth = 1709.026541; finalDepth = 1741.688985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.2664709999999 # Actual altitude: 83.2664709999999 # Commanded vehicle depth: 1741.688985 # Seafloor depth: -1810.102779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050693 meters # Minimum depth: 1759.026541 meters looking forward 100.000000 meters along route # Maximum depth: 1789.884718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.026541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760628; longitude = -130.034915; duration = 428; initialDepth = 1717.516803; finalDepth = 1709.026541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8581770000001 # Actual altitude: 80.8581770000001 # Commanded vehicle depth: 1709.026541 # Seafloor depth: -1789.884718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050707 meters # Minimum depth: 1767.516803 meters looking forward 100.000000 meters along route # Maximum depth: 1797.155283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.516803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761591; longitude = -130.034852; duration = 428; initialDepth = 1746.179381; finalDepth = 1717.516803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8581770000001 # Actual altitude: 80.8581770000001 # Commanded vehicle depth: 1717.516803 # Seafloor depth: -1767.516803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050720 meters # Minimum depth: 1796.179381 meters looking forward 100.000000 meters along route # Maximum depth: 1810.778013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.179381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762553; longitude = -130.034789; duration = 428; initialDepth = 1743.736271; finalDepth = 1746.179381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1746.179381 # Seafloor depth: -1796.179381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050732 meters # Minimum depth: 1793.736271 meters looking forward 100.000000 meters along route # Maximum depth: 1799.535033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.736271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763515; longitude = -130.034726; duration = 428; initialDepth = 1746.869354; finalDepth = 1743.736271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7987620000001 # Actual altitude: 55.7987620000001 # Commanded vehicle depth: 1743.736271 # Seafloor depth: -1799.535033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050746 meters # Minimum depth: 1796.869354 meters looking forward 100.000000 meters along route # Maximum depth: 1842.800492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.869354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764478; longitude = -130.034662; duration = 428; initialDepth = 1796.787936; finalDepth = 1746.869354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7987620000001 # Actual altitude: 55.7987620000001 # Commanded vehicle depth: 1746.869354 # Seafloor depth: -1796.869354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050758 meters # Minimum depth: 1853.824411 meters looking forward 100.000000 meters along route # Maximum depth: 1881.334289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.787936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765440; longitude = -130.034599; duration = 428; initialDepth = 1834.013017; finalDepth = 1796.787936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8013232990302 # Actual altitude: 58.8013232990302 # Commanded vehicle depth: 1796.78793570097 # Seafloor depth: -1855.589259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050771 meters # Minimum depth: 1884.013017 meters looking forward 100.000000 meters along route # Maximum depth: 1907.301866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.013017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766403; longitude = -130.034536; duration = 428; initialDepth = 1857.191628; finalDepth = 1834.013017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8013232990302 # Actual altitude: 58.8013232990302 # Commanded vehicle depth: 1834.013017 # Seafloor depth: -1884.013017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050784 meters # Minimum depth: 1907.191628 meters looking forward 100.000000 meters along route # Maximum depth: 1920.532254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.191628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767365; longitude = -130.034472; duration = 428; initialDepth = 1869.256438; finalDepth = 1857.191628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945453 # Actual altitude: 51.945453 # Commanded vehicle depth: 1857.191628 # Seafloor depth: -1909.137081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.050797 meters # Minimum depth: 1919.256438 meters looking forward 100.000000 meters along route # Maximum depth: 1923.116109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.256438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768328; longitude = -130.034409; duration = 428; initialDepth = 1836.409556; finalDepth = 1869.256438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945453 # Actual altitude: 51.945453 # Commanded vehicle depth: 1869.256438 # Seafloor depth: -1920.846315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.874333 meters # Minimum depth: 1886.409556 meters looking forward 100.000000 meters along route # Maximum depth: 1918.741024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.409556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769290; longitude = -130.034346; duration = 411; initialDepth = 1836.051666; finalDepth = 1836.409556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.065754 # Actual altitude: 82.065754 # Commanded vehicle depth: 1836.409556 # Seafloor depth: -1918.475310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.24; 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 149.998658 meters # Minimum depth: 1886.051666 meters looking forward 100.000000 meters along route # Maximum depth: 1902.316845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.051666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770215; longitude = -130.034285; duration = 599; # abortOnTimeout = True; initialDepth = 1832.451264; finalDepth = 1836.051666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.065754 # Actual altitude: 82.065754 # Commanded vehicle depth: 1836.051666 # Seafloor depth: -1886.051666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.24; 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 124.043876 meters # Minimum depth: 1882.451264 meters looking forward 100.000000 meters along route # Maximum depth: 1894.108701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.451264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770277; longitude = -130.036212; duration = 496; # abortOnTimeout = True; initialDepth = 1818.278395; finalDepth = 1832.451264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7348019999999 # Actual altitude: 58.7348019999999 # Commanded vehicle depth: 1832.451264 # Seafloor depth: -1891.186066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 107.050723 meters # Minimum depth: 1868.278395 meters looking forward 100.000000 meters along route # Maximum depth: 1894.533679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.278395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769162; longitude = -130.036285; duration = 428; initialDepth = 1790.107433; finalDepth = 1818.278395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.790467 # Actual altitude: 74.790467 # Commanded vehicle depth: 1818.278395 # Seafloor depth: -1893.068862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050711 meters # Minimum depth: 1840.107433 meters looking forward 100.000000 meters along route # Maximum depth: 1863.091170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.107433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768199; longitude = -130.036349; duration = 428; initialDepth = 1744.483559; finalDepth = 1790.107433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.790467 # Actual altitude: 74.790467 # Commanded vehicle depth: 1790.107433 # Seafloor depth: -1862.838529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050698 meters # Minimum depth: 1794.483559 meters looking forward 100.000000 meters along route # Maximum depth: 1837.585433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.483559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767237; longitude = -130.036412; duration = 428; initialDepth = 1706.105623; finalDepth = 1744.483559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.101874 # Actual altitude: 93.101874 # Commanded vehicle depth: 1744.483559 # Seafloor depth: -1837.585433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050684 meters # Minimum depth: 1756.105623 meters looking forward 100.000000 meters along route # Maximum depth: 1790.783427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.105623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766274; longitude = -130.036475; duration = 428; initialDepth = 1664.788463; finalDepth = 1706.105623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.101874 # Actual altitude: 93.101874 # Commanded vehicle depth: 1706.105623 # Seafloor depth: -1790.200070 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050672 meters # Minimum depth: 1714.788463 meters looking forward 100.000000 meters along route # Maximum depth: 1754.141373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.788463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765312; longitude = -130.036538; duration = 428; initialDepth = 1655.383823; finalDepth = 1664.788463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.0778599999999 # Actual altitude: 88.0778599999999 # Commanded vehicle depth: 1664.788463 # Seafloor depth: -1752.866323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050659 meters # Minimum depth: 1705.383823 meters looking forward 100.000000 meters along route # Maximum depth: 1715.530695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.383823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764350; longitude = -130.036602; duration = 428; initialDepth = 1653.530028; finalDepth = 1655.383823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.0778599999999 # Actual altitude: 88.0778599999999 # Commanded vehicle depth: 1655.383823 # Seafloor depth: -1715.530695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050647 meters # Minimum depth: 1703.530028 meters looking forward 100.000000 meters along route # Maximum depth: 1709.234464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.530028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763387; longitude = -130.036665; duration = 428; initialDepth = 1637.203254; finalDepth = 1653.530028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.146872 # Actual altitude: 60.146872 # Commanded vehicle depth: 1653.530028 # Seafloor depth: -1706.239984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050633 meters # Minimum depth: 1687.203254 meters looking forward 100.000000 meters along route # Maximum depth: 1710.738889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.203254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762425; longitude = -130.036728; duration = 428; initialDepth = 1667.452799; finalDepth = 1637.203254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3700819999999 # Actual altitude: 65.3700819999999 # Commanded vehicle depth: 1637.203254 # Seafloor depth: -1702.573336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050621 meters # Minimum depth: 1717.452799 meters looking forward 100.000000 meters along route # Maximum depth: 1781.432106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.452799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761462; longitude = -130.036791; duration = 428; initialDepth = 1717.371322; finalDepth = 1667.452799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3700819999999 # Actual altitude: 65.3700819999999 # Commanded vehicle depth: 1667.452799 # Seafloor depth: -1717.452799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050607 meters # Minimum depth: 1784.174623 meters looking forward 100.000000 meters along route # Maximum depth: 1853.137431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.371322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760500; longitude = -130.036855; duration = 428; initialDepth = 1767.289839; finalDepth = 1717.371322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8033005874859 # Actual altitude: 66.8033005874859 # Commanded vehicle depth: 1717.37132241251 # Seafloor depth: -1784.174623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050595 meters # Minimum depth: 1857.619883 meters looking forward 100.000000 meters along route # Maximum depth: 1901.637378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.289839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759537; longitude = -130.036918; duration = 428; initialDepth = 1817.208351; finalDepth = 1767.289839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.3300437032806 # Actual altitude: 90.3300437032806 # Commanded vehicle depth: 1767.28983929672 # Seafloor depth: -1857.619883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050582 meters # Minimum depth: 1902.768100 meters looking forward 100.000000 meters along route # Maximum depth: 1921.266660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.208351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758575; longitude = -130.036981; duration = 428; initialDepth = 1867.126856; finalDepth = 1817.208351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.3300437032806 # Actual altitude: 90.3300437032806 # Commanded vehicle depth: 1817.20835058523 # Seafloor depth: -1902.883960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050570 meters # Minimum depth: 1928.565020 meters looking forward 100.000000 meters along route # Maximum depth: 1941.031080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.126856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757613; longitude = -130.037044; duration = 428; initialDepth = 1875.793991; finalDepth = 1867.126856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.6756094147656 # Actual altitude: 85.6756094147656 # Commanded vehicle depth: 1867.12685581175 # Seafloor depth: -1928.708209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050556 meters # Minimum depth: 1925.793991 meters looking forward 100.000000 meters along route # Maximum depth: 1938.372864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.793991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756650; longitude = -130.037108; duration = 428; initialDepth = 1847.321267; finalDepth = 1875.793991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5788729999999 # Actual altitude: 62.5788729999999 # Commanded vehicle depth: 1875.793991 # Seafloor depth: -1938.372864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050543 meters # Minimum depth: 1897.321267 meters looking forward 100.000000 meters along route # Maximum depth: 1925.190621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.321267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755688; longitude = -130.037171; duration = 428; initialDepth = 1814.174381; finalDepth = 1847.321267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8693539999999 # Actual altitude: 77.8693539999999 # Commanded vehicle depth: 1847.321267 # Seafloor depth: -1925.190621 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050531 meters # Minimum depth: 1864.174381 meters looking forward 100.000000 meters along route # Maximum depth: 1899.385541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.174381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754725; longitude = -130.037234; duration = 428; initialDepth = 1801.565592; finalDepth = 1814.174381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.2111600000001 # Actual altitude: 85.2111600000001 # Commanded vehicle depth: 1814.174381 # Seafloor depth: -1899.385541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050518 meters # Minimum depth: 1851.565592 meters looking forward 100.000000 meters along route # Maximum depth: 1870.262237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.565592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753763; longitude = -130.037297; duration = 428; initialDepth = 1801.934379; finalDepth = 1801.565592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.2111600000001 # Actual altitude: 85.2111600000001 # Commanded vehicle depth: 1801.565592 # Seafloor depth: -1862.639636 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050505 meters # Minimum depth: 1851.934379 meters looking forward 100.000000 meters along route # Maximum depth: 1888.951248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.934379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752800; longitude = -130.037361; duration = 428; initialDepth = 1843.856550; finalDepth = 1801.934379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0740440000002 # Actual altitude: 61.0740440000002 # Commanded vehicle depth: 1801.934379 # Seafloor depth: -1851.934379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050492 meters # Minimum depth: 1893.856550 meters looking forward 100.000000 meters along route # Maximum depth: 1902.907965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.856550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751838; longitude = -130.037424; duration = 428; initialDepth = 1830.485720; finalDepth = 1843.856550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5992960000001 # Actual altitude: 50.5992960000001 # Commanded vehicle depth: 1843.85655 # Seafloor depth: -1894.455846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050479 meters # Minimum depth: 1880.485720 meters looking forward 100.000000 meters along route # Maximum depth: 1897.337035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.485720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750875; longitude = -130.037487; duration = 428; initialDepth = 1810.171535; finalDepth = 1830.485720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5720980000001 # Actual altitude: 63.5720980000001 # Commanded vehicle depth: 1830.48572 # Seafloor depth: -1894.057818 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050467 meters # Minimum depth: 1860.171535 meters looking forward 100.000000 meters along route # Maximum depth: 1886.547901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.171535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749913; longitude = -130.037551; duration = 428; initialDepth = 1809.817769; finalDepth = 1810.171535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.376366 # Actual altitude: 76.376366 # Commanded vehicle depth: 1810.171535 # Seafloor depth: -1886.547901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050453 meters # Minimum depth: 1859.817769 meters looking forward 100.000000 meters along route # Maximum depth: 1881.000719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.817769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748951; longitude = -130.037614; duration = 428; initialDepth = 1829.267165; finalDepth = 1809.817769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.376366 # Actual altitude: 76.376366 # Commanded vehicle depth: 1809.817769 # Seafloor depth: -1859.817769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050441 meters # Minimum depth: 1879.267165 meters looking forward 100.000000 meters along route # Maximum depth: 1903.780646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.267165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747988; longitude = -130.037677; duration = 428; initialDepth = 1847.773767; finalDepth = 1829.267165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.267165 # Seafloor depth: -1879.267165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050428 meters # Minimum depth: 1897.773767 meters looking forward 100.000000 meters along route # Maximum depth: 1913.959483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.773767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747026; longitude = -130.037740; duration = 428; initialDepth = 1821.935792; finalDepth = 1847.773767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8922300000002 # Actual altitude: 56.8922300000002 # Commanded vehicle depth: 1847.773767 # Seafloor depth: -1904.665997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050415 meters # Minimum depth: 1871.935792 meters looking forward 100.000000 meters along route # Maximum depth: 1895.254475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.935792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746063; longitude = -130.037804; duration = 428; initialDepth = 1840.930312; finalDepth = 1821.935792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.318683 # Actual altitude: 73.318683 # Commanded vehicle depth: 1821.935792 # Seafloor depth: -1895.254475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050402 meters # Minimum depth: 1890.930312 meters looking forward 100.000000 meters along route # Maximum depth: 1906.788731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.930312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745101; longitude = -130.037867; duration = 428; initialDepth = 1808.658547; finalDepth = 1840.930312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.318683 # Actual altitude: 73.318683 # Commanded vehicle depth: 1840.930312 # Seafloor depth: -1890.930312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050390 meters # Minimum depth: 1858.658547 meters looking forward 100.000000 meters along route # Maximum depth: 1899.186406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.658547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744138; longitude = -130.037930; duration = 428; initialDepth = 1804.966067; finalDepth = 1808.658547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.527859 # Actual altitude: 90.527859 # Commanded vehicle depth: 1808.658547 # Seafloor depth: -1899.186406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050376 meters # Minimum depth: 1854.966067 meters looking forward 100.000000 meters along route # Maximum depth: 1871.206221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.966067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743176; longitude = -130.037993; duration = 428; initialDepth = 1822.265611; finalDepth = 1804.966067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.527859 # Actual altitude: 90.527859 # Commanded vehicle depth: 1804.966067 # Seafloor depth: -1857.885266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050364 meters # Minimum depth: 1872.265611 meters looking forward 100.000000 meters along route # Maximum depth: 1913.365245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.265611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742214; longitude = -130.038057; duration = 428; initialDepth = 1866.162949; finalDepth = 1822.265611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9191989999999 # Actual altitude: 52.9191989999999 # Commanded vehicle depth: 1822.265611 # Seafloor depth: -1872.265611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050351 meters # Minimum depth: 1916.162949 meters looking forward 100.000000 meters along route # Maximum depth: 1952.645257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.162949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741251; longitude = -130.038120; duration = 428; initialDepth = 1888.471816; finalDepth = 1866.162949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1866.162949 # Seafloor depth: -1916.162949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050338 meters # Minimum depth: 1938.471816 meters looking forward 100.000000 meters along route # Maximum depth: 1953.096302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.471816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740289; longitude = -130.038183; duration = 428; initialDepth = 1886.929488; finalDepth = 1888.471816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.305079 # Actual altitude: 64.305079 # Commanded vehicle depth: 1888.471816 # Seafloor depth: -1952.776895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050325 meters # Minimum depth: 1936.929488 meters looking forward 100.000000 meters along route # Maximum depth: 1946.820813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.929488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739326; longitude = -130.038246; duration = 428; initialDepth = 1897.968288; finalDepth = 1886.929488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.305079 # Actual altitude: 64.305079 # Commanded vehicle depth: 1886.929488 # Seafloor depth: -1941.658042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050312 meters # Minimum depth: 1947.968288 meters looking forward 100.000000 meters along route # Maximum depth: 1954.036459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.968288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738364; longitude = -130.038310; duration = 428; initialDepth = 1903.973106; finalDepth = 1897.968288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.728554 # Actual altitude: 54.728554 # Commanded vehicle depth: 1897.968288 # Seafloor depth: -1947.968288 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050300 meters # Minimum depth: 1953.973106 meters looking forward 100.000000 meters along route # Maximum depth: 1975.868879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.973106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737401; longitude = -130.038373; duration = 428; initialDepth = 1917.366941; finalDepth = 1903.973106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0476560000002 # Actual altitude: 50.0476560000002 # Commanded vehicle depth: 1903.973106 # Seafloor depth: -1954.020762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050286 meters # Minimum depth: 1967.366941 meters looking forward 100.000000 meters along route # Maximum depth: 1983.559864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.366941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736439; longitude = -130.038436; duration = 428; initialDepth = 1900.121692; finalDepth = 1917.366941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.628359 # Actual altitude: 59.628359 # Commanded vehicle depth: 1917.366941 # Seafloor depth: -1976.995300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050274 meters # Minimum depth: 1950.121692 meters looking forward 100.000000 meters along route # Maximum depth: 1962.890779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.121692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735476; longitude = -130.038499; duration = 428; initialDepth = 1908.604873; finalDepth = 1900.121692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7690870000001 # Actual altitude: 62.7690870000001 # Commanded vehicle depth: 1900.121692 # Seafloor depth: -1962.890779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050261 meters # Minimum depth: 1958.604873 meters looking forward 100.000000 meters along route # Maximum depth: 1969.259205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.604873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734514; longitude = -130.038563; duration = 428; initialDepth = 1917.293837; finalDepth = 1908.604873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7690870000001 # Actual altitude: 62.7690870000001 # Commanded vehicle depth: 1908.604873 # Seafloor depth: -1958.604873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050248 meters # Minimum depth: 1967.293837 meters looking forward 100.000000 meters along route # Maximum depth: 1970.492935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.293837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733552; longitude = -130.038626; duration = 428; initialDepth = 1914.080587; finalDepth = 1917.293837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2748800000002 # Actual altitude: 52.2748800000002 # Commanded vehicle depth: 1917.293837 # Seafloor depth: -1969.568717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050235 meters # Minimum depth: 1964.080587 meters looking forward 100.000000 meters along route # Maximum depth: 1970.136255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.080587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732589; longitude = -130.038689; duration = 428; initialDepth = 1903.944084; finalDepth = 1914.080587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.55952 # Actual altitude: 54.55952 # Commanded vehicle depth: 1914.080587 # Seafloor depth: -1968.640107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050223 meters # Minimum depth: 1953.944084 meters looking forward 100.000000 meters along route # Maximum depth: 1967.906589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.944084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731627; longitude = -130.038753; duration = 428; initialDepth = 1895.328734; finalDepth = 1903.944084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4853969999999 # Actual altitude: 59.4853969999999 # Commanded vehicle depth: 1903.944084 # Seafloor depth: -1963.429481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050209 meters # Minimum depth: 1945.328734 meters looking forward 100.000000 meters along route # Maximum depth: 1971.485038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.328734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730664; longitude = -130.038816; duration = 428; initialDepth = 1890.418701; finalDepth = 1895.328734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.773866 # Actual altitude: 73.773866 # Commanded vehicle depth: 1895.328734 # Seafloor depth: -1969.102600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050197 meters # Minimum depth: 1940.418701 meters looking forward 100.000000 meters along route # Maximum depth: 1956.318044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.418701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729702; longitude = -130.038879; duration = 428; initialDepth = 1889.725298; finalDepth = 1890.418701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.773866 # Actual altitude: 73.773866 # Commanded vehicle depth: 1890.418701 # Seafloor depth: -1949.362661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050184 meters # Minimum depth: 1939.725298 meters looking forward 100.000000 meters along route # Maximum depth: 1960.883859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.725298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728739; longitude = -130.038942; duration = 428; initialDepth = 1904.597994; finalDepth = 1889.725298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9439599999998 # Actual altitude: 58.9439599999998 # Commanded vehicle depth: 1889.725298 # Seafloor depth: -1939.725298 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050171 meters # Minimum depth: 1954.597994 meters looking forward 100.000000 meters along route # Maximum depth: 1969.961693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.597994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727777; longitude = -130.039006; duration = 428; initialDepth = 1905.661647; finalDepth = 1904.597994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1904.597994 # Seafloor depth: -1954.597994 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050158 meters # Minimum depth: 1955.661647 meters looking forward 100.000000 meters along route # Maximum depth: 1968.313532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.661647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726815; longitude = -130.039069; duration = 428; initialDepth = 1905.524978; finalDepth = 1905.661647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.651885 # Actual altitude: 62.651885 # Commanded vehicle depth: 1905.661647 # Seafloor depth: -1968.313532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050145 meters # Minimum depth: 1955.524978 meters looking forward 100.000000 meters along route # Maximum depth: 1966.149122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.524978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725852; longitude = -130.039132; duration = 428; initialDepth = 1890.457101; finalDepth = 1905.524978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.651885 # Actual altitude: 62.651885 # Commanded vehicle depth: 1905.524978 # Seafloor depth: -1956.262801 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050133 meters # Minimum depth: 1940.457101 meters looking forward 100.000000 meters along route # Maximum depth: 1957.762361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.457101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724890; longitude = -130.039195; duration = 428; initialDepth = 1907.938569; finalDepth = 1890.457101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3052600000001 # Actual altitude: 67.3052600000001 # Commanded vehicle depth: 1890.457101 # Seafloor depth: -1957.762361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.335210 meters # Minimum depth: 1957.938569 meters looking forward 100.000000 meters along route # Maximum depth: 1983.750560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.938569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723927; longitude = -130.039259; duration = 425; initialDepth = 1896.595655; finalDepth = 1907.938569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3052600000001 # Actual altitude: 67.3052600000001 # Commanded vehicle depth: 1907.938569 # Seafloor depth: -1957.938569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.628343 meters # Minimum depth: 1946.595655 meters looking forward 100.000000 meters along route # Maximum depth: 1969.001943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.595655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722971; longitude = -130.039321; duration = 402; initialDepth = 1891.603945; finalDepth = 1896.595655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4062879999999 # Actual altitude: 72.4062879999999 # Commanded vehicle depth: 1896.595655 # Seafloor depth: -1969.001943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050095 meters # Minimum depth: 1941.603945 meters looking forward 100.000000 meters along route # Maximum depth: 1992.152357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.603945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722066; longitude = -130.039381; duration = 428; initialDepth = 1931.276357; finalDepth = 1891.603945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4062879999999 # Actual altitude: 72.4062879999999 # Commanded vehicle depth: 1891.603945 # Seafloor depth: -1945.846971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050082 meters # Minimum depth: 1981.276357 meters looking forward 100.000000 meters along route # Maximum depth: 1987.652821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.276357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721104; longitude = -130.039444; duration = 428; initialDepth = 1912.219290; finalDepth = 1931.276357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9397240000001 # Actual altitude: 55.9397240000001 # Commanded vehicle depth: 1931.276357 # Seafloor depth: -1987.216081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050069 meters # Minimum depth: 1962.219290 meters looking forward 100.000000 meters along route # Maximum depth: 1984.213112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.219290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720142; longitude = -130.039507; duration = 428; initialDepth = 1916.797368; finalDepth = 1912.219290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0003220000001 # Actual altitude: 65.0003220000001 # Commanded vehicle depth: 1912.21929 # Seafloor depth: -1977.219612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050057 meters # Minimum depth: 1966.797368 meters looking forward 100.000000 meters along route # Maximum depth: 1980.896814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.797368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719179; longitude = -130.039571; duration = 428; initialDepth = 1925.987705; finalDepth = 1916.797368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0003220000001 # Actual altitude: 65.0003220000001 # Commanded vehicle depth: 1916.797368 # Seafloor depth: -1974.656044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050043 meters # Minimum depth: 1975.987705 meters looking forward 100.000000 meters along route # Maximum depth: 1993.450842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.987705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718217; longitude = -130.039634; duration = 428; initialDepth = 1934.306905; finalDepth = 1925.987705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8586760000001 # Actual altitude: 57.8586760000001 # Commanded vehicle depth: 1925.987705 # Seafloor depth: -1981.547293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050031 meters # Minimum depth: 1984.306905 meters looking forward 100.000000 meters along route # Maximum depth: 1996.470331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.306905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717254; longitude = -130.039697; duration = 428; initialDepth = 1925.103902; finalDepth = 1934.306905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1195790000002 # Actual altitude: 59.1195790000002 # Commanded vehicle depth: 1934.306905 # Seafloor depth: -1993.426484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050017 meters # Minimum depth: 1975.103902 meters looking forward 100.000000 meters along route # Maximum depth: 1989.314442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.103902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716292; longitude = -130.039760; duration = 428; initialDepth = 1912.991159; finalDepth = 1925.103902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4756169999998 # Actual altitude: 60.4756169999998 # Commanded vehicle depth: 1925.103902 # Seafloor depth: -1985.579519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.050005 meters # Minimum depth: 1962.991159 meters looking forward 100.000000 meters along route # Maximum depth: 1990.514800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.991159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715329; longitude = -130.039824; duration = 428; initialDepth = 1902.491606; finalDepth = 1912.991159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.147923 # Actual altitude: 77.147923 # Commanded vehicle depth: 1912.991159 # Seafloor depth: -1990.139082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049993 meters # Minimum depth: 1952.491606 meters looking forward 100.000000 meters along route # Maximum depth: 1963.606782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.491606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714367; longitude = -130.039887; duration = 428; initialDepth = 1886.444202; finalDepth = 1902.491606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.147923 # Actual altitude: 77.147923 # Commanded vehicle depth: 1902.491606 # Seafloor depth: -1963.174004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049979 meters # Minimum depth: 1936.444202 meters looking forward 100.000000 meters along route # Maximum depth: 1952.217924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.444202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713405; longitude = -130.039950; duration = 428; initialDepth = 1864.660149; finalDepth = 1886.444202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2196370000001 # Actual altitude: 65.2196370000001 # Commanded vehicle depth: 1886.444202 # Seafloor depth: -1951.663839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049966 meters # Minimum depth: 1914.660149 meters looking forward 100.000000 meters along route # Maximum depth: 1935.530721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.660149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712442; longitude = -130.040014; duration = 428; initialDepth = 1854.725028; finalDepth = 1864.660149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.870572 # Actual altitude: 70.870572 # Commanded vehicle depth: 1864.660149 # Seafloor depth: -1935.530721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049954 meters # Minimum depth: 1904.725028 meters looking forward 100.000000 meters along route # Maximum depth: 1920.208738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.725028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711480; longitude = -130.040077; duration = 428; initialDepth = 1816.197996; finalDepth = 1854.725028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.870572 # Actual altitude: 70.870572 # Commanded vehicle depth: 1854.725028 # Seafloor depth: -1911.300572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049941 meters # Minimum depth: 1866.197996 meters looking forward 100.000000 meters along route # Maximum depth: 1909.915595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.197996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710517; longitude = -130.040140; duration = 428; initialDepth = 1815.584115; finalDepth = 1816.197996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.7175989999998 # Actual altitude: 93.7175989999998 # Commanded vehicle depth: 1816.197996 # Seafloor depth: -1909.915595 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049928 meters # Minimum depth: 1865.584115 meters looking forward 100.000000 meters along route # Maximum depth: 1903.973915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.584115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709555; longitude = -130.040203; duration = 428; initialDepth = 1839.040619; finalDepth = 1815.584115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.7175989999998 # Actual altitude: 93.7175989999998 # Commanded vehicle depth: 1815.584115 # Seafloor depth: -1865.837156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049915 meters # Minimum depth: 1889.040619 meters looking forward 100.000000 meters along route # Maximum depth: 1925.507216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.040619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708592; longitude = -130.040267; duration = 428; initialDepth = 1821.075442; finalDepth = 1839.040619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9846559999999 # Actual altitude: 65.9846559999999 # Commanded vehicle depth: 1839.040619 # Seafloor depth: -1905.025275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049902 meters # Minimum depth: 1871.075442 meters looking forward 100.000000 meters along route # Maximum depth: 1888.198051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.075442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707630; longitude = -130.040330; duration = 428; initialDepth = 1811.788807; finalDepth = 1821.075442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9846559999999 # Actual altitude: 65.9846559999999 # Commanded vehicle depth: 1821.075442 # Seafloor depth: -1886.761499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049889 meters # Minimum depth: 1861.788807 meters looking forward 100.000000 meters along route # Maximum depth: 1877.581022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.788807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706667; longitude = -130.040393; duration = 428; initialDepth = 1797.525654; finalDepth = 1811.788807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7922150000002 # Actual altitude: 65.7922150000002 # Commanded vehicle depth: 1811.788807 # Seafloor depth: -1877.581022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.049877 meters # Minimum depth: 1847.525654 meters looking forward 100.000000 meters along route # Maximum depth: 1867.384694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.525654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705705; longitude = -130.040456; duration = 428; initialDepth = 1799.742522; finalDepth = 1797.525654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.85904 # Actual altitude: 69.85904 # Commanded vehicle depth: 1797.525654 # Seafloor depth: -1867.384694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.843642 meters # Minimum depth: 1849.742522 meters looking forward 100.000000 meters along route # Maximum depth: 1870.415026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.742522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704743; longitude = -130.040520; duration = 415; initialDepth = 1787.118720; finalDepth = 1799.742522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.85904 # Actual altitude: 69.85904 # Commanded vehicle depth: 1799.742522 # Seafloor depth: -1850.126666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.92; 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 149.943051 meters # Minimum depth: 1837.118720 meters looking forward 100.000000 meters along route # Maximum depth: 1904.375165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.118720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703809; longitude = -130.040581; duration = 599; # abortOnTimeout = True; initialDepth = 1851.973711; finalDepth = 1787.118720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.4305960000002 # Actual altitude: 82.4305960000002 # Commanded vehicle depth: 1787.11872 # Seafloor depth: -1869.549316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.46; 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 125.494005 meters # Minimum depth: 1901.973711 meters looking forward 100.000000 meters along route # Maximum depth: 1908.410193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.973711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703871; longitude = -130.042505; duration = 501; # abortOnTimeout = True; initialDepth = 1857.259491; finalDepth = 1851.973711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.4305960000002 # Actual altitude: 82.4305960000002 # Commanded vehicle depth: 1851.973711 # Seafloor depth: -1905.932617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.049757 meters # Minimum depth: 1907.259491 meters looking forward 100.000000 meters along route # Maximum depth: 1930.685075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.259491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704999; longitude = -130.042431; duration = 428; initialDepth = 1872.963023; finalDepth = 1857.259491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0284409999999 # Actual altitude: 58.0284409999999 # Commanded vehicle depth: 1857.259491 # Seafloor depth: -1915.287932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049769 meters # Minimum depth: 1922.963023 meters looking forward 100.000000 meters along route # Maximum depth: 1929.579702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.963023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705962; longitude = -130.042368; duration = 428; initialDepth = 1873.187008; finalDepth = 1872.963023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0284409999999 # Actual altitude: 58.0284409999999 # Commanded vehicle depth: 1872.963023 # Seafloor depth: -1928.902140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049782 meters # Minimum depth: 1923.187008 meters looking forward 100.000000 meters along route # Maximum depth: 1928.961856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.187008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706924; longitude = -130.042304; duration = 428; initialDepth = 1876.165021; finalDepth = 1873.187008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9391169999999 # Actual altitude: 55.9391169999999 # Commanded vehicle depth: 1873.187008 # Seafloor depth: -1923.187008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049795 meters # Minimum depth: 1926.165021 meters looking forward 100.000000 meters along route # Maximum depth: 1972.395958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.165021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707887; longitude = -130.042241; duration = 428; initialDepth = 1900.218958; finalDepth = 1876.165021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1876.165021 # Seafloor depth: -1926.165021 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049808 meters # Minimum depth: 1950.218958 meters looking forward 100.000000 meters along route # Maximum depth: 1972.981122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.218958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708849; longitude = -130.042178; duration = 428; initialDepth = 1891.948157; finalDepth = 1900.218958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.549139 # Actual altitude: 71.549139 # Commanded vehicle depth: 1900.218958 # Seafloor depth: -1971.768097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049821 meters # Minimum depth: 1941.948157 meters looking forward 100.000000 meters along route # Maximum depth: 1990.048022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.948157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709811; longitude = -130.042115; duration = 428; initialDepth = 1941.553920; finalDepth = 1891.948157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.549139 # Actual altitude: 71.549139 # Commanded vehicle depth: 1891.948157 # Seafloor depth: -1951.580851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049834 meters # Minimum depth: 1991.553920 meters looking forward 100.000000 meters along route # Maximum depth: 2016.464771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.553920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710774; longitude = -130.042052; duration = 428; initialDepth = 1966.634876; finalDepth = 1941.553920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6326939999999 # Actual altitude: 59.6326939999999 # Commanded vehicle depth: 1941.55392 # Seafloor depth: -1991.553920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049846 meters # Minimum depth: 2016.634876 meters looking forward 100.000000 meters along route # Maximum depth: 2030.304032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1966.634876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711736; longitude = -130.041988; duration = 428; initialDepth = 1954.056960; finalDepth = 1966.634876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1966.634876 # Seafloor depth: -2016.634876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049859 meters # Minimum depth: 2004.056960 meters looking forward 100.000000 meters along route # Maximum depth: 2030.662082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1954.056960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712699; longitude = -130.041925; duration = 428; initialDepth = 1926.922381; finalDepth = 1954.056960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5650370000001 # Actual altitude: 76.5650370000001 # Commanded vehicle depth: 1954.05696 # Seafloor depth: -2030.621997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049872 meters # Minimum depth: 1976.922381 meters looking forward 100.000000 meters along route # Maximum depth: 2001.507340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.922381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713661; longitude = -130.041862; duration = 428; initialDepth = 1949.520210; finalDepth = 1926.922381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5650370000001 # Actual altitude: 76.5650370000001 # Commanded vehicle depth: 1926.922381 # Seafloor depth: -2001.507340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049885 meters # Minimum depth: 1999.520210 meters looking forward 100.000000 meters along route # Maximum depth: 2029.923259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.520210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714624; longitude = -130.041799; duration = 428; initialDepth = 1967.816104; finalDepth = 1949.520210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.584959 # Actual altitude: 74.584959 # Commanded vehicle depth: 1949.52021 # Seafloor depth: -1999.520210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049898 meters # Minimum depth: 2017.816104 meters looking forward 100.000000 meters along route # Maximum depth: 2032.070388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.816104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715586; longitude = -130.041735; duration = 428; initialDepth = 1947.088600; finalDepth = 1967.816104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.738601 # Actual altitude: 56.738601 # Commanded vehicle depth: 1967.816104 # Seafloor depth: -2024.554705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049911 meters # Minimum depth: 1997.088600 meters looking forward 100.000000 meters along route # Maximum depth: 2016.995465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.088600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716549; longitude = -130.041672; duration = 428; initialDepth = 1938.035097; finalDepth = 1947.088600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9068649999999 # Actual altitude: 69.9068649999999 # Commanded vehicle depth: 1947.0886 # Seafloor depth: -2016.995465 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049923 meters # Minimum depth: 1988.035097 meters looking forward 100.000000 meters along route # Maximum depth: 2002.095531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1938.035097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717511; longitude = -130.041609; duration = 428; initialDepth = 1936.390138; finalDepth = 1938.035097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9068649999999 # Actual altitude: 69.9068649999999 # Commanded vehicle depth: 1938.035097 # Seafloor depth: -1996.856114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049937 meters # Minimum depth: 1986.390138 meters looking forward 100.000000 meters along route # Maximum depth: 2017.878402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.390138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718473; longitude = -130.041546; duration = 428; initialDepth = 1933.485509; finalDepth = 1936.390138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.000088 # Actual altitude: 72.000088 # Commanded vehicle depth: 1936.390138 # Seafloor depth: -2008.390226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049949 meters # Minimum depth: 1983.485509 meters looking forward 100.000000 meters along route # Maximum depth: 2013.487232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.485509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719436; longitude = -130.041483; duration = 428; initialDepth = 1933.681664; finalDepth = 1933.485509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.000088 # Actual altitude: 72.000088 # Commanded vehicle depth: 1933.485509 # Seafloor depth: -1992.490541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049962 meters # Minimum depth: 1983.681664 meters looking forward 100.000000 meters along route # Maximum depth: 2011.392567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.681664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720398; longitude = -130.041419; duration = 428; initialDepth = 1929.602103; finalDepth = 1933.681664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0050319999998 # Actual altitude: 59.0050319999998 # Commanded vehicle depth: 1933.681664 # Seafloor depth: -1983.681664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049975 meters # Minimum depth: 1979.602103 meters looking forward 100.000000 meters along route # Maximum depth: 2012.514223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1929.602103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721361; longitude = -130.041356; duration = 428; initialDepth = 1926.524194; finalDepth = 1929.602103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.907015 # Actual altitude: 79.907015 # Commanded vehicle depth: 1929.602103 # Seafloor depth: -2009.509118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.049987 meters # Minimum depth: 1976.524194 meters looking forward 100.000000 meters along route # Maximum depth: 1984.250541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.524194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722323; longitude = -130.041293; duration = 428; initialDepth = 1941.889529; finalDepth = 1926.524194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.907015 # Actual altitude: 79.907015 # Commanded vehicle depth: 1926.524194 # Seafloor depth: -1980.830530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050001 meters # Minimum depth: 1991.889529 meters looking forward 100.000000 meters along route # Maximum depth: 2009.311876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.889529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723286; longitude = -130.041230; duration = 428; initialDepth = 1948.011705; finalDepth = 1941.889529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3063359999999 # Actual altitude: 54.3063359999999 # Commanded vehicle depth: 1941.889529 # Seafloor depth: -1991.889529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050013 meters # Minimum depth: 1998.011705 meters looking forward 100.000000 meters along route # Maximum depth: 2010.535444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1948.011705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724248; longitude = -130.041167; duration = 428; initialDepth = 1939.761385; finalDepth = 1948.011705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4350980000002 # Actual altitude: 59.4350980000002 # Commanded vehicle depth: 1948.011705 # Seafloor depth: -2007.446803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050026 meters # Minimum depth: 1989.761385 meters looking forward 100.000000 meters along route # Maximum depth: 1999.795935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.761385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725210; longitude = -130.041103; duration = 428; initialDepth = 1921.758185; finalDepth = 1939.761385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4350980000002 # Actual altitude: 59.4350980000002 # Commanded vehicle depth: 1939.761385 # Seafloor depth: -1996.587490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050039 meters # Minimum depth: 1971.758185 meters looking forward 100.000000 meters along route # Maximum depth: 1995.758228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.758185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726173; longitude = -130.041040; duration = 428; initialDepth = 1899.556470; finalDepth = 1921.758185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9242960000001 # Actual altitude: 72.9242960000001 # Commanded vehicle depth: 1921.758185 # Seafloor depth: -1994.682481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050052 meters # Minimum depth: 1949.556470 meters looking forward 100.000000 meters along route # Maximum depth: 1984.199687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.556470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727135; longitude = -130.040977; duration = 428; initialDepth = 1933.996618; finalDepth = 1899.556470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9242960000001 # Actual altitude: 72.9242960000001 # Commanded vehicle depth: 1899.55647 # Seafloor depth: -1965.784559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050065 meters # Minimum depth: 1983.996618 meters looking forward 100.000000 meters along route # Maximum depth: 1995.505923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.996618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728098; longitude = -130.040914; duration = 428; initialDepth = 1934.785690; finalDepth = 1933.996618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.228089 # Actual altitude: 66.228089 # Commanded vehicle depth: 1933.996618 # Seafloor depth: -1983.996618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050078 meters # Minimum depth: 1984.785690 meters looking forward 100.000000 meters along route # Maximum depth: 1994.554176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.785690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729060; longitude = -130.040850; duration = 428; initialDepth = 1944.094620; finalDepth = 1934.785690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7684860000002 # Actual altitude: 59.7684860000002 # Commanded vehicle depth: 1934.78569 # Seafloor depth: -1994.554176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050090 meters # Minimum depth: 1994.094620 meters looking forward 100.000000 meters along route # Maximum depth: 2012.580076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1944.094620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730023; longitude = -130.040787; duration = 428; initialDepth = 1920.603819; finalDepth = 1944.094620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7684860000002 # Actual altitude: 59.7684860000002 # Commanded vehicle depth: 1944.09462 # Seafloor depth: -1994.094620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050103 meters # Minimum depth: 1970.603819 meters looking forward 100.000000 meters along route # Maximum depth: 2009.282623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1920.603819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730985; longitude = -130.040724; duration = 428; initialDepth = 1884.076582; finalDepth = 1920.603819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6788040000001 # Actual altitude: 88.6788040000001 # Commanded vehicle depth: 1920.603819 # Seafloor depth: -2009.282623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050117 meters # Minimum depth: 1934.076582 meters looking forward 100.000000 meters along route # Maximum depth: 1976.055886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.076582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731948; longitude = -130.040661; duration = 428; initialDepth = 1883.698310; finalDepth = 1884.076582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6915720000002 # Actual altitude: 89.6915720000002 # Commanded vehicle depth: 1884.076582 # Seafloor depth: -1973.768154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050129 meters # Minimum depth: 1933.698310 meters looking forward 100.000000 meters along route # Maximum depth: 1959.314902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.698310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732910; longitude = -130.040598; duration = 428; initialDepth = 1888.849543; finalDepth = 1883.698310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6915720000002 # Actual altitude: 89.6915720000002 # Commanded vehicle depth: 1883.69831 # Seafloor depth: -1936.055226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050141 meters # Minimum depth: 1938.849543 meters looking forward 100.000000 meters along route # Maximum depth: 1960.205231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.849543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733872; longitude = -130.040534; duration = 428; initialDepth = 1886.506550; finalDepth = 1888.849543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3556879999999 # Actual altitude: 71.3556879999999 # Commanded vehicle depth: 1888.849543 # Seafloor depth: -1960.205231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050155 meters # Minimum depth: 1936.506550 meters looking forward 100.000000 meters along route # Maximum depth: 1948.249809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.506550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734835; longitude = -130.040471; duration = 428; initialDepth = 1887.319205; finalDepth = 1886.506550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3556879999999 # Actual altitude: 71.3556879999999 # Commanded vehicle depth: 1886.50655 # Seafloor depth: -1939.274439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050168 meters # Minimum depth: 1937.319205 meters looking forward 100.000000 meters along route # Maximum depth: 1946.679348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.319205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735797; longitude = -130.040408; duration = 428; initialDepth = 1896.475348; finalDepth = 1887.319205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8250089999999 # Actual altitude: 54.8250089999999 # Commanded vehicle depth: 1887.319205 # Seafloor depth: -1942.144214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050180 meters # Minimum depth: 1946.475348 meters looking forward 100.000000 meters along route # Maximum depth: 1958.215933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.475348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736760; longitude = -130.040345; duration = 428; initialDepth = 1885.856554; finalDepth = 1896.475348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8250089999999 # Actual altitude: 54.8250089999999 # Commanded vehicle depth: 1896.475348 # Seafloor depth: -1946.978657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050193 meters # Minimum depth: 1935.856554 meters looking forward 100.000000 meters along route # Maximum depth: 1964.537202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.856554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737722; longitude = -130.040281; duration = 428; initialDepth = 1882.331968; finalDepth = 1885.856554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.6846110000001 # Actual altitude: 73.6846110000001 # Commanded vehicle depth: 1885.856554 # Seafloor depth: -1959.541165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 106.136454 meters # Minimum depth: 1932.331968 meters looking forward 100.000000 meters along route # Maximum depth: 1939.824424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.331968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738685; longitude = -130.040218; duration = 424; initialDepth = 1884.556103; finalDepth = 1882.331968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.6846110000001 # Actual altitude: 73.6846110000001 # Commanded vehicle depth: 1882.331968 # Seafloor depth: -1935.948883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.827289 meters # Minimum depth: 1934.556103 meters looking forward 100.000000 meters along route # Maximum depth: 1962.784598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.556103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739639; longitude = -130.040156; duration = 403; initialDepth = 1903.300371; finalDepth = 1884.556103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.182489 # Actual altitude: 55.182489 # Commanded vehicle depth: 1884.556103 # Seafloor depth: -1939.738592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050231 meters # Minimum depth: 1953.300371 meters looking forward 100.000000 meters along route # Maximum depth: 1963.024698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.300371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740545; longitude = -130.040096; duration = 428; initialDepth = 1891.568432; finalDepth = 1903.300371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7243269999999 # Actual altitude: 59.7243269999999 # Commanded vehicle depth: 1903.300371 # Seafloor depth: -1963.024698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050244 meters # Minimum depth: 1941.568432 meters looking forward 100.000000 meters along route # Maximum depth: 1956.379898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.568432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741508; longitude = -130.040033; duration = 428; initialDepth = 1873.042253; finalDepth = 1891.568432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8114659999999 # Actual altitude: 64.8114659999999 # Commanded vehicle depth: 1891.568432 # Seafloor depth: -1956.379898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050257 meters # Minimum depth: 1923.042253 meters looking forward 100.000000 meters along route # Maximum depth: 1946.759351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.042253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742470; longitude = -130.039970; duration = 428; initialDepth = 1867.944313; finalDepth = 1873.042253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.079158 # Actual altitude: 73.079158 # Commanded vehicle depth: 1873.042253 # Seafloor depth: -1946.121411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050269 meters # Minimum depth: 1917.944313 meters looking forward 100.000000 meters along route # Maximum depth: 1923.799059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.944313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743433; longitude = -130.039906; duration = 428; initialDepth = 1869.030750; finalDepth = 1867.944313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.079158 # Actual altitude: 73.079158 # Commanded vehicle depth: 1867.944313 # Seafloor depth: -1917.944313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050282 meters # Minimum depth: 1919.030750 meters looking forward 100.000000 meters along route # Maximum depth: 1924.045096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.030750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744395; longitude = -130.039843; duration = 428; initialDepth = 1861.363493; finalDepth = 1869.030750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1833000000001 # Actual altitude: 54.1833000000001 # Commanded vehicle depth: 1869.03075 # Seafloor depth: -1923.214050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050296 meters # Minimum depth: 1911.363493 meters looking forward 100.000000 meters along route # Maximum depth: 1918.632148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.363493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745357; longitude = -130.039780; duration = 428; initialDepth = 1854.062139; finalDepth = 1861.363493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2686549999999 # Actual altitude: 57.2686549999999 # Commanded vehicle depth: 1861.363493 # Seafloor depth: -1918.632148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050307 meters # Minimum depth: 1904.062139 meters looking forward 100.000000 meters along route # Maximum depth: 1912.465828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.062139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746320; longitude = -130.039717; duration = 428; initialDepth = 1860.445804; finalDepth = 1854.062139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2686549999999 # Actual altitude: 57.2686549999999 # Commanded vehicle depth: 1854.062139 # Seafloor depth: -1907.236534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050321 meters # Minimum depth: 1910.445804 meters looking forward 100.000000 meters along route # Maximum depth: 1913.597464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.445804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747282; longitude = -130.039653; duration = 428; initialDepth = 1861.357484; finalDepth = 1860.445804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.174395 # Actual altitude: 53.174395 # Commanded vehicle depth: 1860.445804 # Seafloor depth: -1911.737259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050334 meters # Minimum depth: 1911.357484 meters looking forward 100.000000 meters along route # Maximum depth: 1915.176374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.357484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748245; longitude = -130.039590; duration = 428; initialDepth = 1857.722362; finalDepth = 1861.357484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.291455 # Actual altitude: 51.291455 # Commanded vehicle depth: 1861.357484 # Seafloor depth: -1911.357484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050347 meters # Minimum depth: 1907.722362 meters looking forward 100.000000 meters along route # Maximum depth: 1915.358040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.722362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749207; longitude = -130.039527; duration = 428; initialDepth = 1863.750546; finalDepth = 1857.722362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6356780000001 # Actual altitude: 57.6356780000001 # Commanded vehicle depth: 1857.722362 # Seafloor depth: -1915.358040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050359 meters # Minimum depth: 1913.750546 meters looking forward 100.000000 meters along route # Maximum depth: 1930.883741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.750546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750170; longitude = -130.039464; duration = 428; initialDepth = 1870.070130; finalDepth = 1863.750546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6356780000001 # Actual altitude: 57.6356780000001 # Commanded vehicle depth: 1863.750546 # Seafloor depth: -1913.750546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050372 meters # Minimum depth: 1920.070130 meters looking forward 100.000000 meters along route # Maximum depth: 1925.660152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.070130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751132; longitude = -130.039401; duration = 428; initialDepth = 1844.876690; finalDepth = 1870.070130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5900219999999 # Actual altitude: 55.5900219999999 # Commanded vehicle depth: 1870.07013 # Seafloor depth: -1925.660152 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050385 meters # Minimum depth: 1894.876690 meters looking forward 100.000000 meters along route # Maximum depth: 1919.033315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.876690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752095; longitude = -130.039337; duration = 428; initialDepth = 1842.755839; finalDepth = 1844.876690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1566249999998 # Actual altitude: 74.1566249999998 # Commanded vehicle depth: 1844.87669 # Seafloor depth: -1919.033315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050398 meters # Minimum depth: 1892.755839 meters looking forward 100.000000 meters along route # Maximum depth: 1902.732877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.755839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753057; longitude = -130.039274; duration = 428; initialDepth = 1821.144424; finalDepth = 1842.755839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1566249999998 # Actual altitude: 74.1566249999998 # Commanded vehicle depth: 1842.755839 # Seafloor depth: -1893.822944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050411 meters # Minimum depth: 1871.144424 meters looking forward 100.000000 meters along route # Maximum depth: 1890.604559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.144424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754019; longitude = -130.039211; duration = 428; initialDepth = 1828.170749; finalDepth = 1821.144424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.460135 # Actual altitude: 69.460135 # Commanded vehicle depth: 1821.144424 # Seafloor depth: -1890.604559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050423 meters # Minimum depth: 1878.170749 meters looking forward 100.000000 meters along route # Maximum depth: 1889.951098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.170749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754982; longitude = -130.039148; duration = 428; initialDepth = 1826.230569; finalDepth = 1828.170749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.460135 # Actual altitude: 69.460135 # Commanded vehicle depth: 1828.170749 # Seafloor depth: -1886.919480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050437 meters # Minimum depth: 1876.230569 meters looking forward 100.000000 meters along route # Maximum depth: 1885.381471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.230569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755944; longitude = -130.039085; duration = 428; initialDepth = 1836.594375; finalDepth = 1826.230569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7487310000001 # Actual altitude: 58.7487310000001 # Commanded vehicle depth: 1826.230569 # Seafloor depth: -1877.109750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050449 meters # Minimum depth: 1886.594375 meters looking forward 100.000000 meters along route # Maximum depth: 1890.651017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.594375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756907; longitude = -130.039021; duration = 428; initialDepth = 1837.242398; finalDepth = 1836.594375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.879181 # Actual altitude: 50.879181 # Commanded vehicle depth: 1836.594375 # Seafloor depth: -1886.594375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050462 meters # Minimum depth: 1887.242398 meters looking forward 100.000000 meters along route # Maximum depth: 1893.210643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.242398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757869; longitude = -130.038958; duration = 428; initialDepth = 1776.561555; finalDepth = 1837.242398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.880549 # Actual altitude: 53.880549 # Commanded vehicle depth: 1837.242398 # Seafloor depth: -1891.122947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050475 meters # Minimum depth: 1826.561555 meters looking forward 100.000000 meters along route # Maximum depth: 1886.053149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.561555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758832; longitude = -130.038895; duration = 428; initialDepth = 1725.784414; finalDepth = 1776.561555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.491594 # Actual altitude: 100 # Commanded vehicle depth: 1776.561555 # Seafloor depth: -1886.053149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050488 meters # Minimum depth: 1775.784414 meters looking forward 100.000000 meters along route # Maximum depth: 1824.044329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.784414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759794; longitude = -130.038832; duration = 428; initialDepth = 1650.788562; finalDepth = 1725.784414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.491594 # Actual altitude: 100 # Commanded vehicle depth: 1725.784414 # Seafloor depth: -1824.044329 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050501 meters # Minimum depth: 1700.788562 meters looking forward 100.000000 meters along route # Maximum depth: 1772.183353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.788562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760756; longitude = -130.038768; duration = 428; initialDepth = 1633.633928; finalDepth = 1650.788562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 121.394791 # Actual altitude: 100 # Commanded vehicle depth: 1650.788562 # Seafloor depth: -1772.183353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050513 meters # Minimum depth: 1683.633928 meters looking forward 100.000000 meters along route # Maximum depth: 1694.682495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.633928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761719; longitude = -130.038705; duration = 428; initialDepth = 1635.638700; finalDepth = 1633.633928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 121.394791 # Actual altitude: 100 # Commanded vehicle depth: 1633.633928 # Seafloor depth: -1694.682495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050527 meters # Minimum depth: 1685.638700 meters looking forward 100.000000 meters along route # Maximum depth: 1700.013595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.638700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762681; longitude = -130.038642; duration = 428; initialDepth = 1631.430969; finalDepth = 1635.638700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.048567 # Actual altitude: 61.048567 # Commanded vehicle depth: 1635.6387 # Seafloor depth: -1687.347042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050539 meters # Minimum depth: 1681.430969 meters looking forward 100.000000 meters along route # Maximum depth: 1711.827571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.430969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763644; longitude = -130.038579; duration = 428; initialDepth = 1658.350261; finalDepth = 1631.430969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.217009 # Actual altitude: 56.217009 # Commanded vehicle depth: 1631.430969 # Seafloor depth: -1687.647978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050552 meters # Minimum depth: 1708.350261 meters looking forward 100.000000 meters along route # Maximum depth: 1760.952347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.350261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764606; longitude = -130.038516; duration = 428; initialDepth = 1708.268752; finalDepth = 1658.350261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.217009 # Actual altitude: 56.217009 # Commanded vehicle depth: 1658.350261 # Seafloor depth: -1714.027255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050565 meters # Minimum depth: 1764.301234 meters looking forward 100.000000 meters along route # Maximum depth: 1797.173872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.268752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765569; longitude = -130.038452; duration = 428; initialDepth = 1750.169655; finalDepth = 1708.268752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.032481762714 # Actual altitude: 56.032481762714 # Commanded vehicle depth: 1708.26875223729 # Seafloor depth: -1764.301234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050578 meters # Minimum depth: 1800.169655 meters looking forward 100.000000 meters along route # Maximum depth: 1857.259779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.169655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766531; longitude = -130.038389; duration = 428; initialDepth = 1800.088158; finalDepth = 1750.169655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.032481762714 # Actual altitude: 56.032481762714 # Commanded vehicle depth: 1750.169655 # Seafloor depth: -1800.169655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050590 meters # Minimum depth: 1856.796943 meters looking forward 100.000000 meters along route # Maximum depth: 1864.278292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.088158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767494; longitude = -130.038326; duration = 428; initialDepth = 1809.225908; finalDepth = 1800.088158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1222456387154 # Actual altitude: 58.1222456387154 # Commanded vehicle depth: 1800.08815836128 # Seafloor depth: -1858.210404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.050604 meters # Minimum depth: 1859.225908 meters looking forward 100.000000 meters along route # Maximum depth: 1873.044589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.225908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768456; longitude = -130.038263; duration = 428; initialDepth = 1828.221320; finalDepth = 1809.225908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1222456387154 # Actual altitude: 58.1222456387154 # Commanded vehicle depth: 1809.225908 # Seafloor depth: -1861.708271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.393078 meters # Minimum depth: 1878.221320 meters looking forward 100.000000 meters along route # Maximum depth: 1900.934486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.221320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769418; longitude = -130.038199; duration = 409; initialDepth = 1841.438573; finalDepth = 1828.221320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.4823630000001 # Actual altitude: 52.4823630000001 # Commanded vehicle depth: 1828.22132 # Seafloor depth: -1878.221320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; 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 167.624383 meters # Minimum depth: 1891.438573 meters looking forward 100.000000 meters along route # Maximum depth: 1898.376953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.438573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770339; longitude = -130.038139; duration = 670; # abortOnTimeout = True; initialDepth = 1841.063674; finalDepth = 1841.438573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.9383800000001 # Actual altitude: 56.9383800000001 # Commanded vehicle depth: 1841.438573 # Seafloor depth: -1898.376953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.16; 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 89.271217 meters # Minimum depth: 1891.063674 meters looking forward 100.000000 meters along route # Maximum depth: 1895.244114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.063674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770991; longitude = -130.040083; duration = 357; # abortOnTimeout = True; initialDepth = 1828.841235; finalDepth = 1841.063674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9383800000001 # Actual altitude: 56.9383800000001 # Commanded vehicle depth: 1841.063674 # Seafloor depth: -1891.564331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.047706 meters # Minimum depth: 1878.841235 meters looking forward 100.000000 meters along route # Maximum depth: 1890.972643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.841235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770188; longitude = -130.040135; duration = 428; initialDepth = 1822.113780; finalDepth = 1828.841235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.131408 # Actual altitude: 62.131408 # Commanded vehicle depth: 1828.841235 # Seafloor depth: -1890.972643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047694 meters # Minimum depth: 1872.113780 meters looking forward 100.000000 meters along route # Maximum depth: 1883.149317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.113780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769226; longitude = -130.040197; duration = 428; initialDepth = 1810.568776; finalDepth = 1822.113780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.131408 # Actual altitude: 62.131408 # Commanded vehicle depth: 1822.11378 # Seafloor depth: -1880.583015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047680 meters # Minimum depth: 1860.568776 meters looking forward 100.000000 meters along route # Maximum depth: 1870.108234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.568776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768264; longitude = -130.040260; duration = 428; initialDepth = 1814.494448; finalDepth = 1810.568776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.539458 # Actual altitude: 59.539458 # Commanded vehicle depth: 1810.568776 # Seafloor depth: -1870.108234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047667 meters # Minimum depth: 1864.494448 meters looking forward 100.000000 meters along route # Maximum depth: 1867.600374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.494448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767301; longitude = -130.040322; duration = 428; initialDepth = 1775.727628; finalDepth = 1814.494448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.539458 # Actual altitude: 59.539458 # Commanded vehicle depth: 1814.494448 # Seafloor depth: -1866.224468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047654 meters # Minimum depth: 1825.727628 meters looking forward 100.000000 meters along route # Maximum depth: 1861.979892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.727628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766339; longitude = -130.040385; duration = 428; initialDepth = 1732.628556; finalDepth = 1775.727628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.252264 # Actual altitude: 86.252264 # Commanded vehicle depth: 1775.727628 # Seafloor depth: -1861.979892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047642 meters # Minimum depth: 1782.628556 meters looking forward 100.000000 meters along route # Maximum depth: 1824.720159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.628556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765376; longitude = -130.040447; duration = 428; initialDepth = 1686.208349; finalDepth = 1732.628556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.0916030000001 # Actual altitude: 92.0916030000001 # Commanded vehicle depth: 1732.628556 # Seafloor depth: -1824.720159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047628 meters # Minimum depth: 1736.208349 meters looking forward 100.000000 meters along route # Maximum depth: 1778.549849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.208349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764414; longitude = -130.040509; duration = 428; initialDepth = 1686.085236; finalDepth = 1686.208349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.3415 # Actual altitude: 92.3415 # Commanded vehicle depth: 1686.208349 # Seafloor depth: -1778.549849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047615 meters # Minimum depth: 1736.085236 meters looking forward 100.000000 meters along route # Maximum depth: 1760.701516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.085236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763451; longitude = -130.040572; duration = 428; initialDepth = 1703.318502; finalDepth = 1686.085236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.3415 # Actual altitude: 92.3415 # Commanded vehicle depth: 1686.085236 # Seafloor depth: -1736.085236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047603 meters # Minimum depth: 1753.318502 meters looking forward 100.000000 meters along route # Maximum depth: 1779.488284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.318502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762489; longitude = -130.040634; duration = 428; initialDepth = 1727.918285; finalDepth = 1703.318502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5537669999999 # Actual altitude: 51.5537669999999 # Commanded vehicle depth: 1703.318502 # Seafloor depth: -1754.872269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047589 meters # Minimum depth: 1777.918285 meters looking forward 100.000000 meters along route # Maximum depth: 1786.009692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.918285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761526; longitude = -130.040697; duration = 428; initialDepth = 1736.457620; finalDepth = 1727.918285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5537669999999 # Actual altitude: 51.5537669999999 # Commanded vehicle depth: 1727.918285 # Seafloor depth: -1778.470550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047577 meters # Minimum depth: 1786.457620 meters looking forward 100.000000 meters along route # Maximum depth: 1816.012534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.457620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760564; longitude = -130.040759; duration = 428; initialDepth = 1767.725370; finalDepth = 1736.457620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.552265 # Actual altitude: 50.552265 # Commanded vehicle depth: 1736.45762 # Seafloor depth: -1786.457620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047564 meters # Minimum depth: 1817.725370 meters looking forward 100.000000 meters along route # Maximum depth: 1874.252663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.725370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759602; longitude = -130.040821; duration = 428; initialDepth = 1817.642468; finalDepth = 1767.725370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.317376 # Actual altitude: 52.317376 # Commanded vehicle depth: 1767.72537 # Seafloor depth: -1820.042746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047550 meters # Minimum depth: 1876.389503 meters looking forward 100.000000 meters along route # Maximum depth: 1901.455322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.642468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758639; longitude = -130.040884; duration = 428; initialDepth = 1850.523055; finalDepth = 1817.642468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7470350899696 # Actual altitude: 58.7470350899696 # Commanded vehicle depth: 1817.64246791003 # Seafloor depth: -1876.389503 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047538 meters # Minimum depth: 1900.523055 meters looking forward 100.000000 meters along route # Maximum depth: 1904.740461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.523055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757677; longitude = -130.040946; duration = 428; initialDepth = 1838.671677; finalDepth = 1850.523055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7470350899696 # Actual altitude: 58.7470350899696 # Commanded vehicle depth: 1850.523055 # Seafloor depth: -1900.708481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047525 meters # Minimum depth: 1888.671677 meters looking forward 100.000000 meters along route # Maximum depth: 1900.194686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.671677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756714; longitude = -130.041008; duration = 428; initialDepth = 1838.873999; finalDepth = 1838.671677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.523009 # Actual altitude: 61.523009 # Commanded vehicle depth: 1838.671677 # Seafloor depth: -1900.194686 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047511 meters # Minimum depth: 1888.873999 meters looking forward 100.000000 meters along route # Maximum depth: 1892.833731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.873999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755752; longitude = -130.041071; duration = 428; initialDepth = 1839.082051; finalDepth = 1838.873999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.523009 # Actual altitude: 61.523009 # Commanded vehicle depth: 1838.873999 # Seafloor depth: -1889.180020 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047499 meters # Minimum depth: 1889.082051 meters looking forward 100.000000 meters along route # Maximum depth: 1896.124993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.082051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754789; longitude = -130.041133; duration = 428; initialDepth = 1843.733881; finalDepth = 1839.082051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4173349999999 # Actual altitude: 50.4173349999999 # Commanded vehicle depth: 1839.082051 # Seafloor depth: -1889.499386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047486 meters # Minimum depth: 1893.733881 meters looking forward 100.000000 meters along route # Maximum depth: 1898.962022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.733881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753827; longitude = -130.041196; duration = 428; initialDepth = 1851.221716; finalDepth = 1843.733881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8501819999999 # Actual altitude: 53.8501819999999 # Commanded vehicle depth: 1843.733881 # Seafloor depth: -1897.584063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047473 meters # Minimum depth: 1901.221716 meters looking forward 100.000000 meters along route # Maximum depth: 1929.865899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.221716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752865; longitude = -130.041258; duration = 428; initialDepth = 1869.971383; finalDepth = 1851.221716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8501819999999 # Actual altitude: 53.8501819999999 # Commanded vehicle depth: 1851.221716 # Seafloor depth: -1901.221716 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047460 meters # Minimum depth: 1919.971383 meters looking forward 100.000000 meters along route # Maximum depth: 1931.872406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.971383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751902; longitude = -130.041320; duration = 428; initialDepth = 1847.552136; finalDepth = 1869.971383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7287719999999 # Actual altitude: 60.7287719999999 # Commanded vehicle depth: 1869.971383 # Seafloor depth: -1930.700155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047447 meters # Minimum depth: 1897.552136 meters looking forward 100.000000 meters along route # Maximum depth: 1922.908396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.552136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750940; longitude = -130.041383; duration = 428; initialDepth = 1824.968964; finalDepth = 1847.552136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.35626 # Actual altitude: 75.35626 # Commanded vehicle depth: 1847.552136 # Seafloor depth: -1922.908396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047433 meters # Minimum depth: 1874.968964 meters looking forward 100.000000 meters along route # Maximum depth: 1897.853810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.968964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749977; longitude = -130.041445; duration = 428; initialDepth = 1843.294235; finalDepth = 1824.968964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.35626 # Actual altitude: 75.35626 # Commanded vehicle depth: 1824.968964 # Seafloor depth: -1890.286080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047422 meters # Minimum depth: 1893.294235 meters looking forward 100.000000 meters along route # Maximum depth: 1902.715658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.294235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749015; longitude = -130.041508; duration = 428; initialDepth = 1858.922824; finalDepth = 1843.294235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3171160000002 # Actual altitude: 65.3171160000002 # Commanded vehicle depth: 1843.294235 # Seafloor depth: -1901.056080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.202969 meters # Minimum depth: 1908.922824 meters looking forward 100.000000 meters along route # Maximum depth: 1930.564416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.922824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748052; longitude = -130.041570; duration = 420; initialDepth = 1881.346442; finalDepth = 1858.922824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.761845 # Actual altitude: 57.761845 # Commanded vehicle depth: 1858.922824 # Seafloor depth: -1908.922824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.755341 meters # Minimum depth: 1931.346442 meters looking forward 100.000000 meters along route # Maximum depth: 1946.999395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.346442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747106; longitude = -130.041631; duration = 407; initialDepth = 1880.349625; finalDepth = 1881.346442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1881.346442 # Seafloor depth: -1931.346442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047383 meters # Minimum depth: 1930.349625 meters looking forward 100.000000 meters along route # Maximum depth: 1946.394218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.349625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746192; longitude = -130.041691; duration = 428; initialDepth = 1884.249576; finalDepth = 1880.349625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0445929999998 # Actual altitude: 66.0445929999998 # Commanded vehicle depth: 1880.349625 # Seafloor depth: -1946.394218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047370 meters # Minimum depth: 1934.249576 meters looking forward 100.000000 meters along route # Maximum depth: 1946.679962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.249576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745229; longitude = -130.041753; duration = 428; initialDepth = 1895.028250; finalDepth = 1884.249576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0445929999998 # Actual altitude: 66.0445929999998 # Commanded vehicle depth: 1884.249576 # Seafloor depth: -1934.249576 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047357 meters # Minimum depth: 1945.028250 meters looking forward 100.000000 meters along route # Maximum depth: 1949.512578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.028250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744267; longitude = -130.041815; duration = 428; initialDepth = 1900.119876; finalDepth = 1895.028250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.643515 # Actual altitude: 50.643515 # Commanded vehicle depth: 1895.02825 # Seafloor depth: -1945.671765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047344 meters # Minimum depth: 1950.119876 meters looking forward 100.000000 meters along route # Maximum depth: 1968.377910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.119876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743304; longitude = -130.041878; duration = 428; initialDepth = 1908.737526; finalDepth = 1900.119876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.643515 # Actual altitude: 50.643515 # Commanded vehicle depth: 1900.119876 # Seafloor depth: -1950.119876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047331 meters # Minimum depth: 1958.737526 meters looking forward 100.000000 meters along route # Maximum depth: 1971.291829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.737526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742342; longitude = -130.041940; duration = 428; initialDepth = 1904.497889; finalDepth = 1908.737526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.462041 # Actual altitude: 60.462041 # Commanded vehicle depth: 1908.737526 # Seafloor depth: -1969.199567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047319 meters # Minimum depth: 1954.497889 meters looking forward 100.000000 meters along route # Maximum depth: 1973.366712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.497889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741379; longitude = -130.042003; duration = 428; initialDepth = 1881.456944; finalDepth = 1904.497889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.462041 # Actual altitude: 60.462041 # Commanded vehicle depth: 1904.497889 # Seafloor depth: -1963.681553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047305 meters # Minimum depth: 1931.456944 meters looking forward 100.000000 meters along route # Maximum depth: 1952.942081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.456944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740417; longitude = -130.042065; duration = 428; initialDepth = 1868.726786; finalDepth = 1881.456944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4851369999999 # Actual altitude: 71.4851369999999 # Commanded vehicle depth: 1881.456944 # Seafloor depth: -1952.942081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047292 meters # Minimum depth: 1918.726786 meters looking forward 100.000000 meters along route # Maximum depth: 1942.035876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.726786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739455; longitude = -130.042127; duration = 428; initialDepth = 1890.542604; finalDepth = 1868.726786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4851369999999 # Actual altitude: 71.4851369999999 # Commanded vehicle depth: 1868.726786 # Seafloor depth: -1929.672641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047280 meters # Minimum depth: 1940.542604 meters looking forward 100.000000 meters along route # Maximum depth: 1960.424108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.542604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738492; longitude = -130.042190; duration = 428; initialDepth = 1904.072255; finalDepth = 1890.542604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9458550000002 # Actual altitude: 60.9458550000002 # Commanded vehicle depth: 1890.542604 # Seafloor depth: -1940.542604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047266 meters # Minimum depth: 1954.072255 meters looking forward 100.000000 meters along route # Maximum depth: 1970.890522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.072255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737530; longitude = -130.042252; duration = 428; initialDepth = 1892.528636; finalDepth = 1904.072255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1904.072255 # Seafloor depth: -1954.072255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047253 meters # Minimum depth: 1942.528636 meters looking forward 100.000000 meters along route # Maximum depth: 1970.872456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.528636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736567; longitude = -130.042315; duration = 428; initialDepth = 1893.282493; finalDepth = 1892.528636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.673677 # Actual altitude: 77.673677 # Commanded vehicle depth: 1892.528636 # Seafloor depth: -1970.202313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047241 meters # Minimum depth: 1943.282493 meters looking forward 100.000000 meters along route # Maximum depth: 1981.827618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.282493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735605; longitude = -130.042377; duration = 428; initialDepth = 1934.065613; finalDepth = 1893.282493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.673677 # Actual altitude: 77.673677 # Commanded vehicle depth: 1893.282493 # Seafloor depth: -1943.282493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047227 meters # Minimum depth: 1984.065613 meters looking forward 100.000000 meters along route # Maximum depth: 1993.790980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.065613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734642; longitude = -130.042439; duration = 428; initialDepth = 1945.294428; finalDepth = 1934.065613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1934.065613 # Seafloor depth: -1984.065613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047215 meters # Minimum depth: 1995.294428 meters looking forward 100.000000 meters along route # Maximum depth: 2001.208229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.294428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733680; longitude = -130.042502; duration = 428; initialDepth = 1944.922713; finalDepth = 1945.294428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2268960000001 # Actual altitude: 50.2268960000001 # Commanded vehicle depth: 1945.294428 # Seafloor depth: -1995.521324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047201 meters # Minimum depth: 1994.922713 meters looking forward 100.000000 meters along route # Maximum depth: 2005.404550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1944.922713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732717; longitude = -130.042564; duration = 428; initialDepth = 1955.551458; finalDepth = 1944.922713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.274124 # Actual altitude: 52.274124 # Commanded vehicle depth: 1944.922713 # Seafloor depth: -1997.196837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047189 meters # Minimum depth: 2005.551458 meters looking forward 100.000000 meters along route # Maximum depth: 2020.656277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1955.551458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731755; longitude = -130.042626; duration = 428; initialDepth = 1964.781675; finalDepth = 1955.551458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.274124 # Actual altitude: 52.274124 # Commanded vehicle depth: 1955.551458 # Seafloor depth: -2006.163489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047176 meters # Minimum depth: 2014.781675 meters looking forward 100.000000 meters along route # Maximum depth: 2033.469208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1964.781675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730793; longitude = -130.042689; duration = 428; initialDepth = 1983.349378; finalDepth = 1964.781675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7703610000001 # Actual altitude: 53.7703610000001 # Commanded vehicle depth: 1964.781675 # Seafloor depth: -2018.552036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047162 meters # Minimum depth: 2033.349378 meters looking forward 100.000000 meters along route # Maximum depth: 2043.583261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1983.349378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729830; longitude = -130.042751; duration = 428; initialDepth = 1936.730459; finalDepth = 1983.349378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7703610000001 # Actual altitude: 53.7703610000001 # Commanded vehicle depth: 1983.349378 # Seafloor depth: -2033.702762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047150 meters # Minimum depth: 1986.730459 meters looking forward 100.000000 meters along route # Maximum depth: 2038.741825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.730459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728868; longitude = -130.042814; duration = 428; initialDepth = 1918.355353; finalDepth = 1936.730459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.2966749999998 # Actual altitude: 95.2966749999998 # Commanded vehicle depth: 1936.730459 # Seafloor depth: -2032.027134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047137 meters # Minimum depth: 1968.355353 meters looking forward 100.000000 meters along route # Maximum depth: 1999.401812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.355353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727905; longitude = -130.042876; duration = 428; initialDepth = 1948.284154; finalDepth = 1918.355353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.2966749999998 # Actual altitude: 95.2966749999998 # Commanded vehicle depth: 1918.355353 # Seafloor depth: -1989.487473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047124 meters # Minimum depth: 1998.284154 meters looking forward 100.000000 meters along route # Maximum depth: 2015.283158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1948.284154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726943; longitude = -130.042938; duration = 428; initialDepth = 1960.224620; finalDepth = 1948.284154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.13212 # Actual altitude: 71.13212 # Commanded vehicle depth: 1948.284154 # Seafloor depth: -1999.891449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047111 meters # Minimum depth: 2010.224620 meters looking forward 100.000000 meters along route # Maximum depth: 2024.723160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.224620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725980; longitude = -130.043001; duration = 428; initialDepth = 1961.164683; finalDepth = 1960.224620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3547149999999 # Actual altitude: 56.3547149999999 # Commanded vehicle depth: 1960.22462 # Seafloor depth: -2016.579335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047098 meters # Minimum depth: 2011.164683 meters looking forward 100.000000 meters along route # Maximum depth: 2021.332070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1961.164683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725018; longitude = -130.043063; duration = 428; initialDepth = 1951.215209; finalDepth = 1961.164683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3547149999999 # Actual altitude: 56.3547149999999 # Commanded vehicle depth: 1961.164683 # Seafloor depth: -2011.164683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047085 meters # Minimum depth: 2001.215209 meters looking forward 100.000000 meters along route # Maximum depth: 2015.976708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.215209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724056; longitude = -130.043126; duration = 428; initialDepth = 1957.839841; finalDepth = 1951.215209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1190819999999 # Actual altitude: 60.1190819999999 # Commanded vehicle depth: 1951.215209 # Seafloor depth: -2011.334291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047072 meters # Minimum depth: 2007.839841 meters looking forward 100.000000 meters along route # Maximum depth: 2026.814698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.839841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723093; longitude = -130.043188; duration = 428; initialDepth = 1977.162555; finalDepth = 1957.839841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1190819999999 # Actual altitude: 60.1190819999999 # Commanded vehicle depth: 1957.839841 # Seafloor depth: -2015.696825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047059 meters # Minimum depth: 2027.162555 meters looking forward 100.000000 meters along route # Maximum depth: 2061.079859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.162555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722131; longitude = -130.043250; duration = 428; initialDepth = 2009.523627; finalDepth = 1977.162555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.856984 # Actual altitude: 57.856984 # Commanded vehicle depth: 1977.162555 # Seafloor depth: -2028.243023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047046 meters # Minimum depth: 2059.523627 meters looking forward 100.000000 meters along route # Maximum depth: 2071.532962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.523627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721168; longitude = -130.043313; duration = 428; initialDepth = 2014.118010; finalDepth = 2009.523627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9170880000001 # Actual altitude: 52.9170880000001 # Commanded vehicle depth: 2009.523627 # Seafloor depth: -2062.440715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047033 meters # Minimum depth: 2064.118010 meters looking forward 100.000000 meters along route # Maximum depth: 2071.556054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2014.118010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720206; longitude = -130.043375; duration = 428; initialDepth = 2005.992766; finalDepth = 2014.118010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4179559999998 # Actual altitude: 57.4179559999998 # Commanded vehicle depth: 2014.11801 # Seafloor depth: -2071.535966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047020 meters # Minimum depth: 2055.992766 meters looking forward 100.000000 meters along route # Maximum depth: 2069.153295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.992766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719243; longitude = -130.043438; duration = 428; initialDepth = 1991.879473; finalDepth = 2005.992766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4235960000001 # Actual altitude: 60.4235960000001 # Commanded vehicle depth: 2005.992766 # Seafloor depth: -2066.416362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.047007 meters # Minimum depth: 2041.879473 meters looking forward 100.000000 meters along route # Maximum depth: 2053.992474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.879473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718281; longitude = -130.043500; duration = 428; initialDepth = 1980.691034; finalDepth = 1991.879473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1130010000002 # Actual altitude: 62.1130010000002 # Commanded vehicle depth: 1991.879473 # Seafloor depth: -2053.992474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046995 meters # Minimum depth: 2030.691034 meters looking forward 100.000000 meters along route # Maximum depth: 2060.857437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1980.691034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717318; longitude = -130.043562; duration = 428; initialDepth = 1949.375244; finalDepth = 1980.691034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.5309390000002 # Actual altitude: 74.5309390000002 # Commanded vehicle depth: 1980.691034 # Seafloor depth: -2055.221973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046981 meters # Minimum depth: 1999.375244 meters looking forward 100.000000 meters along route # Maximum depth: 2026.205026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.375244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716356; longitude = -130.043625; duration = 428; initialDepth = 1964.474250; finalDepth = 1949.375244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.829782 # Actual altitude: 76.829782 # Commanded vehicle depth: 1949.375244 # Seafloor depth: -2026.205026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 105.680271 meters # Minimum depth: 2014.474250 meters looking forward 100.000000 meters along route # Maximum depth: 2028.270490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1964.474250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715394; longitude = -130.043687; duration = 422; initialDepth = 1975.994189; finalDepth = 1964.474250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.829782 # Actual altitude: 76.829782 # Commanded vehicle depth: 1964.47425 # Seafloor depth: -2021.493045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.277189 meters # Minimum depth: 2025.994189 meters looking forward 100.000000 meters along route # Maximum depth: 2031.100686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1975.994189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714443; longitude = -130.043749; duration = 405; initialDepth = 1973.217534; finalDepth = 1975.994189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.018795 # Actual altitude: 57.018795 # Commanded vehicle depth: 1975.994189 # Seafloor depth: -2027.912149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046944 meters # Minimum depth: 2023.217534 meters looking forward 100.000000 meters along route # Maximum depth: 2032.932277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1973.217534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713533; longitude = -130.043808; duration = 428; initialDepth = 1972.376116; finalDepth = 1973.217534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9748390000002 # Actual altitude: 55.9748390000002 # Commanded vehicle depth: 1973.217534 # Seafloor depth: -2029.192373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046930 meters # Minimum depth: 2022.376116 meters looking forward 100.000000 meters along route # Maximum depth: 2038.749512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1972.376116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712570; longitude = -130.043870; duration = 428; initialDepth = 1977.038657; finalDepth = 1972.376116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9748390000002 # Actual altitude: 55.9748390000002 # Commanded vehicle depth: 1972.376116 # Seafloor depth: -2022.670765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046917 meters # Minimum depth: 2027.038657 meters looking forward 100.000000 meters along route # Maximum depth: 2039.622714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.038657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711608; longitude = -130.043932; duration = 428; initialDepth = 1970.569767; finalDepth = 1977.038657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.584057 # Actual altitude: 62.584057 # Commanded vehicle depth: 1977.038657 # Seafloor depth: -2039.622714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046905 meters # Minimum depth: 2020.569767 meters looking forward 100.000000 meters along route # Maximum depth: 2028.014157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1970.569767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710646; longitude = -130.043995; duration = 428; initialDepth = 1968.031462; finalDepth = 1970.569767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.584057 # Actual altitude: 62.584057 # Commanded vehicle depth: 1970.569767 # Seafloor depth: -2024.996750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046891 meters # Minimum depth: 2018.031462 meters looking forward 100.000000 meters along route # Maximum depth: 2033.431241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1968.031462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709683; longitude = -130.044057; duration = 428; initialDepth = 1941.340388; finalDepth = 1968.031462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7962220000002 # Actual altitude: 61.7962220000002 # Commanded vehicle depth: 1968.031462 # Seafloor depth: -2029.827684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046879 meters # Minimum depth: 1991.340388 meters looking forward 100.000000 meters along route # Maximum depth: 2017.184001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.340388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708721; longitude = -130.044120; duration = 428; initialDepth = 1933.662314; finalDepth = 1941.340388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.843613 # Actual altitude: 75.843613 # Commanded vehicle depth: 1941.340388 # Seafloor depth: -2017.184001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046866 meters # Minimum depth: 1983.662314 meters looking forward 100.000000 meters along route # Maximum depth: 2001.617659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.662314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707758; longitude = -130.044182; duration = 428; initialDepth = 1945.137984; finalDepth = 1933.662314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.843613 # Actual altitude: 75.843613 # Commanded vehicle depth: 1933.662314 # Seafloor depth: -1995.867619 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046852 meters # Minimum depth: 1995.137984 meters looking forward 100.000000 meters along route # Maximum depth: 2002.044814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.137984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706796; longitude = -130.044244; duration = 428; initialDepth = 1922.671533; finalDepth = 1945.137984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2053050000002 # Actual altitude: 62.2053050000002 # Commanded vehicle depth: 1945.137984 # Seafloor depth: -2002.044814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.046840 meters # Minimum depth: 1972.671533 meters looking forward 100.000000 meters along route # Maximum depth: 1996.076396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1922.671533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705833; longitude = -130.044307; duration = 428; initialDepth = 1926.516271; finalDepth = 1922.671533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.404863 # Actual altitude: 73.404863 # Commanded vehicle depth: 1922.671533 # Seafloor depth: -1996.076396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.321748 meters # Minimum depth: 1976.516271 meters looking forward 100.000000 meters along route # Maximum depth: 1986.667877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.516271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.704871; longitude = -130.044369; duration = 417; initialDepth = 1927.814453; finalDepth = 1926.516271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 73.404863 # Actual altitude: 73.404863 # Commanded vehicle depth: 1926.516271 # Seafloor depth: -1986.667877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.04; 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 150.020578 meters # Minimum depth: 1977.814453 meters looking forward 100.000000 meters along route # Maximum depth: 2014.120785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1927.814453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703933; longitude = -130.044430; duration = 600; # abortOnTimeout = True; initialDepth = 1948.455288; finalDepth = 1927.814453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.1516060000001 # Actual altitude: 60.1516060000001 # Commanded vehicle depth: 1927.814453 # Seafloor depth: -1977.814453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.09; 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 1 # Segment length 133.102549 meters # Minimum depth: 1998.455288 meters looking forward 100.000000 meters along route # Maximum depth: 2015.668945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1948.455288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.703995; longitude = -130.046355; duration = 532; # abortOnTimeout = True; initialDepth = 1959.997025; finalDepth = 1948.455288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.2136569999998 # Actual altitude: 67.2136569999998 # Commanded vehicle depth: 1948.455288 # Seafloor depth: -2015.668945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.042382 meters # Minimum depth: 2009.997025 meters looking forward 100.000000 meters along route # Maximum depth: 2012.465394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1959.997025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.705192; longitude = -130.046279; duration = 428; initialDepth = 1967.013338; finalDepth = 1959.997025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.2136569999998 # Actual altitude: 67.2136569999998 # Commanded vehicle depth: 1959.997025 # Seafloor depth: -2011.395859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042396 meters # Minimum depth: 2017.013338 meters looking forward 100.000000 meters along route # Maximum depth: 2079.818062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.013338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.706154; longitude = -130.046218; duration = 428; initialDepth = 2003.659240; finalDepth = 1967.013338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3988340000001 # Actual altitude: 51.3988340000001 # Commanded vehicle depth: 1967.013338 # Seafloor depth: -2017.013338 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042408 meters # Minimum depth: 2053.659240 meters looking forward 100.000000 meters along route # Maximum depth: 2081.631000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.659240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.707117; longitude = -130.046157; duration = 428; initialDepth = 1959.293189; finalDepth = 2003.659240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.690321 # Actual altitude: 77.690321 # Commanded vehicle depth: 2003.65924 # Seafloor depth: -2081.349561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042422 meters # Minimum depth: 2009.293189 meters looking forward 100.000000 meters along route # Maximum depth: 2056.216802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1959.293189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.708079; longitude = -130.046096; duration = 428; initialDepth = 1928.437939; finalDepth = 1959.293189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.9099799999999 # Actual altitude: 94.9099799999999 # Commanded vehicle depth: 1959.293189 # Seafloor depth: -2054.203169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042435 meters # Minimum depth: 1978.437939 meters looking forward 100.000000 meters along route # Maximum depth: 2031.521931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1928.437939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.709042; longitude = -130.046035; duration = 428; initialDepth = 1977.563754; finalDepth = 1928.437939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.9099799999999 # Actual altitude: 94.9099799999999 # Commanded vehicle depth: 1928.437939 # Seafloor depth: -2004.281954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042447 meters # Minimum depth: 2027.563754 meters looking forward 100.000000 meters along route # Maximum depth: 2044.593146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.563754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710004; longitude = -130.045973; duration = 428; initialDepth = 1958.282404; finalDepth = 1977.563754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8440150000001 # Actual altitude: 75.8440150000001 # Commanded vehicle depth: 1977.563754 # Seafloor depth: -2030.655764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042461 meters # Minimum depth: 2008.282404 meters looking forward 100.000000 meters along route # Maximum depth: 2023.455855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1958.282404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.710966; longitude = -130.045912; duration = 428; initialDepth = 1977.107764; finalDepth = 1958.282404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0685089999999 # Actual altitude: 60.0685089999999 # Commanded vehicle depth: 1958.282404 # Seafloor depth: -2018.350913 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042474 meters # Minimum depth: 2027.107764 meters looking forward 100.000000 meters along route # Maximum depth: 2035.875113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.107764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.711929; longitude = -130.045851; duration = 428; initialDepth = 1975.451041; finalDepth = 1977.107764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0685089999999 # Actual altitude: 60.0685089999999 # Commanded vehicle depth: 1977.107764 # Seafloor depth: -2027.107764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042488 meters # Minimum depth: 2025.451041 meters looking forward 100.000000 meters along route # Maximum depth: 2033.242174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1975.451041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.712891; longitude = -130.045790; duration = 428; initialDepth = 1987.359028; finalDepth = 1975.451041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.261244 # Actual altitude: 53.261244 # Commanded vehicle depth: 1975.451041 # Seafloor depth: -2028.712285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042500 meters # Minimum depth: 2037.359028 meters looking forward 100.000000 meters along route # Maximum depth: 2041.747262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1987.359028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.713854; longitude = -130.045729; duration = 428; initialDepth = 1962.326701; finalDepth = 1987.359028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.261244 # Actual altitude: 53.261244 # Commanded vehicle depth: 1987.359028 # Seafloor depth: -2037.359028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.657069 meters # Minimum depth: 2012.326701 meters looking forward 100.000000 meters along route # Maximum depth: 2036.810435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.326701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.714816; longitude = -130.045668; duration = 410; initialDepth = 1951.147788; finalDepth = 1962.326701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.4837340000001 # Actual altitude: 74.4837340000001 # Commanded vehicle depth: 1962.326701 # Seafloor depth: -2036.810435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.291802 meters # Minimum depth: 2001.147788 meters looking forward 100.000000 meters along route # Maximum depth: 2024.515854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.147788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.715739; longitude = -130.045609; duration = 417; initialDepth = 1982.281253; finalDepth = 1951.147788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.4837340000001 # Actual altitude: 74.4837340000001 # Commanded vehicle depth: 1951.147788 # Seafloor depth: -2009.209007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042539 meters # Minimum depth: 2032.281253 meters looking forward 100.000000 meters along route # Maximum depth: 2060.861218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1982.281253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.716677; longitude = -130.045550; duration = 428; initialDepth = 1981.970894; finalDepth = 1982.281253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0612189999999 # Actual altitude: 58.0612189999999 # Commanded vehicle depth: 1982.281253 # Seafloor depth: -2032.281253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042552 meters # Minimum depth: 2031.970894 meters looking forward 100.000000 meters along route # Maximum depth: 2050.692080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1981.970894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.717639; longitude = -130.045489; duration = 428; initialDepth = 1952.789292; finalDepth = 1981.970894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4723880000001 # Actual altitude: 68.4723880000001 # Commanded vehicle depth: 1981.970894 # Seafloor depth: -2050.443282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042565 meters # Minimum depth: 2002.789292 meters looking forward 100.000000 meters along route # Maximum depth: 2025.421569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.789292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.718602; longitude = -130.045428; duration = 428; initialDepth = 1969.469325; finalDepth = 1952.789292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6322770000002 # Actual altitude: 72.6322770000002 # Commanded vehicle depth: 1952.789292 # Seafloor depth: -2025.421569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042579 meters # Minimum depth: 2019.469325 meters looking forward 100.000000 meters along route # Maximum depth: 2066.401232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1969.469325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.719564; longitude = -130.045367; duration = 428; initialDepth = 2009.254440; finalDepth = 1969.469325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6322770000002 # Actual altitude: 72.6322770000002 # Commanded vehicle depth: 1969.469325 # Seafloor depth: -2019.469325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042591 meters # Minimum depth: 2059.254440 meters looking forward 100.000000 meters along route # Maximum depth: 2069.583760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2009.254440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.720527; longitude = -130.045305; duration = 428; initialDepth = 2008.623822; finalDepth = 2009.254440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2053219999998 # Actual altitude: 58.2053219999998 # Commanded vehicle depth: 2009.25444 # Seafloor depth: -2067.459762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042604 meters # Minimum depth: 2058.623822 meters looking forward 100.000000 meters along route # Maximum depth: 2071.201698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.623822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.721489; longitude = -130.045244; duration = 428; initialDepth = 2018.688697; finalDepth = 2008.623822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2053219999998 # Actual altitude: 58.2053219999998 # Commanded vehicle depth: 2008.623822 # Seafloor depth: -2059.151470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042618 meters # Minimum depth: 2068.688697 meters looking forward 100.000000 meters along route # Maximum depth: 2070.537220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.688697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.722451; longitude = -130.045183; duration = 428; initialDepth = 2015.699117; finalDepth = 2018.688697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5276479999998 # Actual altitude: 50.5276479999998 # Commanded vehicle depth: 2018.688697 # Seafloor depth: -2068.688697 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042631 meters # Minimum depth: 2065.699117 meters looking forward 100.000000 meters along route # Maximum depth: 2071.476223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.699117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.723414; longitude = -130.045122; duration = 428; initialDepth = 2015.171127; finalDepth = 2015.699117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0601499999998 # Actual altitude: 55.0601499999998 # Commanded vehicle depth: 2015.699117 # Seafloor depth: -2070.759267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042644 meters # Minimum depth: 2065.171127 meters looking forward 100.000000 meters along route # Maximum depth: 2072.223410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.171127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.724376; longitude = -130.045061; duration = 428; initialDepth = 2016.680630; finalDepth = 2015.171127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0601499999998 # Actual altitude: 55.0601499999998 # Commanded vehicle depth: 2015.171127 # Seafloor depth: -2065.171127 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042657 meters # Minimum depth: 2066.680630 meters looking forward 100.000000 meters along route # Maximum depth: 2072.613342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.680630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.725339; longitude = -130.045000; duration = 428; initialDepth = 2005.524537; finalDepth = 2016.680630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7607390000003 # Actual altitude: 53.7607390000003 # Commanded vehicle depth: 2016.68063 # Seafloor depth: -2070.441369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042670 meters # Minimum depth: 2055.524537 meters looking forward 100.000000 meters along route # Maximum depth: 2066.272974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.524537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.726301; longitude = -130.044939; duration = 428; initialDepth = 2003.828572; finalDepth = 2005.524537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3869720000002 # Actual altitude: 59.3869720000002 # Commanded vehicle depth: 2005.524537 # Seafloor depth: -2064.911509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042683 meters # Minimum depth: 2053.828572 meters looking forward 100.000000 meters along route # Maximum depth: 2066.051025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.828572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.727264; longitude = -130.044878; duration = 428; initialDepth = 2003.211205; finalDepth = 2003.828572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6838290000001 # Actual altitude: 59.6838290000001 # Commanded vehicle depth: 2003.828572 # Seafloor depth: -2063.512401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042697 meters # Minimum depth: 2053.211205 meters looking forward 100.000000 meters along route # Maximum depth: 2068.758380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.211205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.728226; longitude = -130.044817; duration = 428; initialDepth = 1975.952996; finalDepth = 2003.211205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.474052 # Actual altitude: 65.474052 # Commanded vehicle depth: 2003.211205 # Seafloor depth: -2068.685257 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042709 meters # Minimum depth: 2025.952996 meters looking forward 100.000000 meters along route # Maximum depth: 2054.536960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1975.952996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.729189; longitude = -130.044755; duration = 428; initialDepth = 1914.918996; finalDepth = 1975.952996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9428819999998 # Actual altitude: 76.9428819999998 # Commanded vehicle depth: 1975.952996 # Seafloor depth: -2052.895878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042723 meters # Minimum depth: 1964.918996 meters looking forward 100.000000 meters along route # Maximum depth: 2018.753201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.918996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.730151; longitude = -130.044694; duration = 428; initialDepth = 1915.382618; finalDepth = 1914.918996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.140599 # Actual altitude: 100 # Commanded vehicle depth: 1914.918996 # Seafloor depth: -2018.059595 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042736 meters # Minimum depth: 1965.382618 meters looking forward 100.000000 meters along route # Maximum depth: 1977.058094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.382618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.731113; longitude = -130.044633; duration = 428; initialDepth = 1908.181532; finalDepth = 1915.382618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.140599 # Actual altitude: 100 # Commanded vehicle depth: 1915.382618 # Seafloor depth: -1965.382618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042749 meters # Minimum depth: 1958.181532 meters looking forward 100.000000 meters along route # Maximum depth: 1978.279971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.181532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.732076; longitude = -130.044572; duration = 428; initialDepth = 1914.658966; finalDepth = 1908.181532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0984389999999 # Actual altitude: 70.0984389999999 # Commanded vehicle depth: 1908.181532 # Seafloor depth: -1978.279971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042762 meters # Minimum depth: 1964.658966 meters looking forward 100.000000 meters along route # Maximum depth: 1982.757053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.658966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.733038; longitude = -130.044511; duration = 428; initialDepth = 1912.192767; finalDepth = 1914.658966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0984389999999 # Actual altitude: 70.0984389999999 # Commanded vehicle depth: 1914.658966 # Seafloor depth: -1964.658966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.552296 meters # Minimum depth: 1962.192767 meters looking forward 100.000000 meters along route # Maximum depth: 1977.458497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.192767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734001; longitude = -130.044450; duration = 418; initialDepth = 1911.117601; finalDepth = 1912.192767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2657300000001 # Actual altitude: 65.2657300000001 # Commanded vehicle depth: 1912.192767 # Seafloor depth: -1977.458497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.397081 meters # Minimum depth: 1961.117601 meters looking forward 100.000000 meters along route # Maximum depth: 1968.327994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.117601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.734941; longitude = -130.044390; duration = 409; initialDepth = 1899.117143; finalDepth = 1911.117601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2657300000001 # Actual altitude: 65.2657300000001 # Commanded vehicle depth: 1911.117601 # Seafloor depth: -1962.343934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042801 meters # Minimum depth: 1949.117143 meters looking forward 100.000000 meters along route # Maximum depth: 1966.952224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.117143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.735861; longitude = -130.044332; duration = 428; initialDepth = 1910.420131; finalDepth = 1899.117143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5204230000002 # Actual altitude: 67.5204230000002 # Commanded vehicle depth: 1899.117143 # Seafloor depth: -1966.637566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042813 meters # Minimum depth: 1960.420131 meters looking forward 100.000000 meters along route # Maximum depth: 1970.106946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1910.420131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.736824; longitude = -130.044271; duration = 428; initialDepth = 1919.512453; finalDepth = 1910.420131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5204230000002 # Actual altitude: 67.5204230000002 # Commanded vehicle depth: 1910.420131 # Seafloor depth: -1960.420131 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042827 meters # Minimum depth: 1969.512453 meters looking forward 100.000000 meters along route # Maximum depth: 1972.504561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.512453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.737786; longitude = -130.044210; duration = 428; initialDepth = 1920.245418; finalDepth = 1919.512453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.208895 # Actual altitude: 50.208895 # Commanded vehicle depth: 1919.512453 # Seafloor depth: -1969.721348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042840 meters # Minimum depth: 1970.245418 meters looking forward 100.000000 meters along route # Maximum depth: 1978.990679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1920.245418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.738749; longitude = -130.044149; duration = 428; initialDepth = 1907.241643; finalDepth = 1920.245418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5882899999999 # Actual altitude: 53.5882899999999 # Commanded vehicle depth: 1920.245418 # Seafloor depth: -1973.833708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042853 meters # Minimum depth: 1957.241643 meters looking forward 100.000000 meters along route # Maximum depth: 1969.089103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.241643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.739711; longitude = -130.044087; duration = 428; initialDepth = 1902.465872; finalDepth = 1907.241643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.84746 # Actual altitude: 61.84746 # Commanded vehicle depth: 1907.241643 # Seafloor depth: -1969.089103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042867 meters # Minimum depth: 1952.465872 meters looking forward 100.000000 meters along route # Maximum depth: 1959.845688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.465872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.740674; longitude = -130.044026; duration = 428; initialDepth = 1892.541345; finalDepth = 1902.465872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.84746 # Actual altitude: 61.84746 # Commanded vehicle depth: 1902.465872 # Seafloor depth: -1959.845688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042879 meters # Minimum depth: 1942.541345 meters looking forward 100.000000 meters along route # Maximum depth: 1956.806363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.541345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.741636; longitude = -130.043965; duration = 428; initialDepth = 1899.522261; finalDepth = 1892.541345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2650179999998 # Actual altitude: 64.2650179999998 # Commanded vehicle depth: 1892.541345 # Seafloor depth: -1956.806363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042893 meters # Minimum depth: 1949.522261 meters looking forward 100.000000 meters along route # Maximum depth: 1968.038930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.522261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.742599; longitude = -130.043904; duration = 428; initialDepth = 1918.232340; finalDepth = 1899.522261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2650179999998 # Actual altitude: 64.2650179999998 # Commanded vehicle depth: 1899.522261 # Seafloor depth: -1949.522261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042905 meters # Minimum depth: 1968.232340 meters looking forward 100.000000 meters along route # Maximum depth: 1978.941435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.232340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.743561; longitude = -130.043843; duration = 428; initialDepth = 1913.299386; finalDepth = 1918.232340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.901918 # Actual altitude: 50.901918 # Commanded vehicle depth: 1918.23234 # Seafloor depth: -1969.134258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042919 meters # Minimum depth: 1963.299386 meters looking forward 100.000000 meters along route # Maximum depth: 1968.482718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1913.299386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.744523; longitude = -130.043782; duration = 428; initialDepth = 1900.428191; finalDepth = 1913.299386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7506190000001 # Actual altitude: 54.7506190000001 # Commanded vehicle depth: 1913.299386 # Seafloor depth: -1968.050005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042932 meters # Minimum depth: 1950.428191 meters looking forward 100.000000 meters along route # Maximum depth: 1964.205730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.428191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.745486; longitude = -130.043721; duration = 428; initialDepth = 1897.025734; finalDepth = 1900.428191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.774101 # Actual altitude: 63.774101 # Commanded vehicle depth: 1900.428191 # Seafloor depth: -1964.202292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042945 meters # Minimum depth: 1947.025734 meters looking forward 100.000000 meters along route # Maximum depth: 1950.748569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.025734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.746448; longitude = -130.043660; duration = 428; initialDepth = 1868.170645; finalDepth = 1897.025734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.774101 # Actual altitude: 63.774101 # Commanded vehicle depth: 1897.025734 # Seafloor depth: -1949.146457 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042958 meters # Minimum depth: 1918.170645 meters looking forward 100.000000 meters along route # Maximum depth: 1944.778272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.170645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.747411; longitude = -130.043599; duration = 428; initialDepth = 1810.858456; finalDepth = 1868.170645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6076270000001 # Actual altitude: 76.6076270000001 # Commanded vehicle depth: 1868.170645 # Seafloor depth: -1944.778272 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042971 meters # Minimum depth: 1860.858456 meters looking forward 100.000000 meters along route # Maximum depth: 1913.975484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.858456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.748373; longitude = -130.043537; duration = 428; initialDepth = 1810.710181; finalDepth = 1810.858456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.117028 # Actual altitude: 100 # Commanded vehicle depth: 1810.858456 # Seafloor depth: -1913.975484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042985 meters # Minimum depth: 1860.710181 meters looking forward 100.000000 meters along route # Maximum depth: 1870.443045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.710181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.749336; longitude = -130.043476; duration = 428; initialDepth = 1811.916038; finalDepth = 1810.710181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.117028 # Actual altitude: 100 # Commanded vehicle depth: 1810.710181 # Seafloor depth: -1870.443045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.042997 meters # Minimum depth: 1861.916038 meters looking forward 100.000000 meters along route # Maximum depth: 1896.905976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.916038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.750298; longitude = -130.043415; duration = 428; initialDepth = 1835.912570; finalDepth = 1811.916038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7328640000001 # Actual altitude: 59.7328640000001 # Commanded vehicle depth: 1811.916038 # Seafloor depth: -1861.916038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043011 meters # Minimum depth: 1885.912570 meters looking forward 100.000000 meters along route # Maximum depth: 1897.427727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.912570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.751260; longitude = -130.043354; duration = 428; initialDepth = 1831.355899; finalDepth = 1835.912570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1251690000001 # Actual altitude: 55.1251690000001 # Commanded vehicle depth: 1835.91257 # Seafloor depth: -1891.037739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043024 meters # Minimum depth: 1881.355899 meters looking forward 100.000000 meters along route # Maximum depth: 1910.160182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.355899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.752223; longitude = -130.043293; duration = 428; initialDepth = 1852.549485; finalDepth = 1831.355899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.855824 # Actual altitude: 55.855824 # Commanded vehicle depth: 1831.355899 # Seafloor depth: -1887.211723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.447532 meters # Minimum depth: 1902.549485 meters looking forward 100.000000 meters along route # Maximum depth: 1918.139873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.549485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.753185; longitude = -130.043232; duration = 425; initialDepth = 1846.078006; finalDepth = 1852.549485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.268734 # Actual altitude: 61.268734 # Commanded vehicle depth: 1852.549485 # Seafloor depth: -1913.818219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.502351 meters # Minimum depth: 1896.078006 meters looking forward 100.000000 meters along route # Maximum depth: 1912.624609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.078006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.754142; longitude = -130.043171; duration = 402; initialDepth = 1840.523936; finalDepth = 1846.078006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.268734 # Actual altitude: 61.268734 # Commanded vehicle depth: 1846.078006 # Seafloor depth: -1901.424455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043063 meters # Minimum depth: 1890.523936 meters looking forward 100.000000 meters along route # Maximum depth: 1908.693023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.523936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.755046; longitude = -130.043114; duration = 428; initialDepth = 1846.691348; finalDepth = 1840.523936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.169087 # Actual altitude: 68.169087 # Commanded vehicle depth: 1840.523936 # Seafloor depth: -1908.693023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043075 meters # Minimum depth: 1896.691348 meters looking forward 100.000000 meters along route # Maximum depth: 1913.620889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.691348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756008; longitude = -130.043053; duration = 428; initialDepth = 1864.727624; finalDepth = 1846.691348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.169087 # Actual altitude: 68.169087 # Commanded vehicle depth: 1846.691348 # Seafloor depth: -1898.016304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043089 meters # Minimum depth: 1914.727624 meters looking forward 100.000000 meters along route # Maximum depth: 1924.790631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.727624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.756971; longitude = -130.042992; duration = 428; initialDepth = 1858.254895; finalDepth = 1864.727624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3249559999999 # Actual altitude: 51.3249559999999 # Commanded vehicle depth: 1864.727624 # Seafloor depth: -1915.265322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043102 meters # Minimum depth: 1908.254895 meters looking forward 100.000000 meters along route # Maximum depth: 1928.833724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.254895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.757933; longitude = -130.042931; duration = 428; initialDepth = 1819.136433; finalDepth = 1858.254895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.250665 # Actual altitude: 63.250665 # Commanded vehicle depth: 1858.254895 # Seafloor depth: -1921.505560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043115 meters # Minimum depth: 1869.136433 meters looking forward 100.000000 meters along route # Maximum depth: 1907.333694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.136433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.758896; longitude = -130.042869; duration = 428; initialDepth = 1797.654610; finalDepth = 1819.136433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.197261 # Actual altitude: 88.197261 # Commanded vehicle depth: 1819.136433 # Seafloor depth: -1907.333694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043128 meters # Minimum depth: 1847.654610 meters looking forward 100.000000 meters along route # Maximum depth: 1876.273141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.654610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.759858; longitude = -130.042808; duration = 428; initialDepth = 1771.149615; finalDepth = 1797.654610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.197261 # Actual altitude: 88.197261 # Commanded vehicle depth: 1797.65461 # Seafloor depth: -1876.273141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043141 meters # Minimum depth: 1821.149615 meters looking forward 100.000000 meters along route # Maximum depth: 1846.562573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.149615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.760821; longitude = -130.042747; duration = 428; initialDepth = 1758.347412; finalDepth = 1771.149615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6185309999998 # Actual altitude: 78.6185309999998 # Commanded vehicle depth: 1771.149615 # Seafloor depth: -1846.562573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043154 meters # Minimum depth: 1808.347412 meters looking forward 100.000000 meters along route # Maximum depth: 1830.012865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.347412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.761783; longitude = -130.042686; duration = 428; initialDepth = 1739.804533; finalDepth = 1758.347412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4129579999999 # Actual altitude: 75.4129579999999 # Commanded vehicle depth: 1758.347412 # Seafloor depth: -1830.012865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043168 meters # Minimum depth: 1789.804533 meters looking forward 100.000000 meters along route # Maximum depth: 1808.415432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.804533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.762746; longitude = -130.042625; duration = 428; initialDepth = 1755.099878; finalDepth = 1739.804533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6654529999998 # Actual altitude: 71.6654529999998 # Commanded vehicle depth: 1739.804533 # Seafloor depth: -1808.415432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043180 meters # Minimum depth: 1805.099878 meters looking forward 100.000000 meters along route # Maximum depth: 1817.120832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.099878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.763708; longitude = -130.042564; duration = 428; initialDepth = 1769.729475; finalDepth = 1755.099878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.610899 # Actual altitude: 68.610899 # Commanded vehicle depth: 1755.099878 # Seafloor depth: -1805.099878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043194 meters # Minimum depth: 1819.729475 meters looking forward 100.000000 meters along route # Maximum depth: 1869.253302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.729475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.764670; longitude = -130.042503; duration = 428; initialDepth = 1819.644535; finalDepth = 1769.729475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.729475 # Seafloor depth: -1819.729475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043207 meters # Minimum depth: 1870.765319 meters looking forward 100.000000 meters along route # Maximum depth: 1884.804273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.644535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.765633; longitude = -130.042442; duration = 428; initialDepth = 1823.051411; finalDepth = 1819.644535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1207838543964 # Actual altitude: 51.1207838543964 # Commanded vehicle depth: 1819.6445351456 # Seafloor depth: -1870.765319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043220 meters # Minimum depth: 1873.051411 meters looking forward 100.000000 meters along route # Maximum depth: 1878.324603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.051411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.766595; longitude = -130.042381; duration = 428; initialDepth = 1810.727854; finalDepth = 1823.051411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8612480000002 # Actual altitude: 51.8612480000002 # Commanded vehicle depth: 1823.051411 # Seafloor depth: -1874.912659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043233 meters # Minimum depth: 1860.727854 meters looking forward 100.000000 meters along route # Maximum depth: 1877.603829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.727854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.767558; longitude = -130.042319; duration = 428; initialDepth = 1809.843248; finalDepth = 1810.727854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8759749999999 # Actual altitude: 66.8759749999999 # Commanded vehicle depth: 1810.727854 # Seafloor depth: -1877.603829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043246 meters # Minimum depth: 1859.843248 meters looking forward 100.000000 meters along route # Maximum depth: 1863.418705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.843248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.768520; longitude = -130.042258; duration = 428; initialDepth = 1812.107280; finalDepth = 1809.843248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8759749999999 # Actual altitude: 66.8759749999999 # Commanded vehicle depth: 1809.843248 # Seafloor depth: -1859.843248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 107.043259 meters # Minimum depth: 1862.107280 meters looking forward 100.000000 meters along route # Maximum depth: 1873.029730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.107280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.769483; longitude = -130.042197; duration = 428; initialDepth = 1814.333001; finalDepth = 1812.107280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.10728 # Seafloor depth: -1862.107280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.653932 meters # Minimum depth: 1864.333001 meters looking forward 100.000000 meters along route # Maximum depth: 1867.357457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2043.688697 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.333001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 45.770445; longitude = -130.042136; duration = 414; initialDepth = 1814.333001; finalDepth = 1814.333001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.0244560000001 # Actual altitude: 53.0244560000001 # Commanded vehicle depth: 1814.333001 # Seafloor depth: -1867.357457 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 53.0244560000001 # Sonar parameter altitude: 53.0244560000001 # Commanded vehicle depth: 1814.333001 # Seafloor depth: -1866.650970 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 31.81; 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 103.653932 meters # Minimum depth: 1864.333001 meters looking forward 100.000000 meters along route # Maximum depth: 1866.893607 meters looking forward 100.000000 meters along route # Vehicle depth: 1814.333001 meters behavior waypoint { latitude = 45.771377; longitude = -130.042077; duration = 3628; depth = 1814.333001; 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 1814.333001 meters set by local depth and desired altitude behavior descend { duration = 6706; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1806.650970; 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 103.653932 meters # Minimum depth: 1864.333001 meters looking forward 100.000000 meters along route # Maximum depth: 1866.893607 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 45.771377; longitude = -130.042077; 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 = 183.293386; 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 = 183.293386; 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 = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################