# 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: 6A_AxialMidNrift_2v4.rte # Mission File: 6A_AxialMidNrift_2v4.cfg # Distance: 88944.841330 (m) # Estimated Time: 62036 (s) 17.232 (hr) # Abort Time: 65000 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 2785 (s) # Way Points: 37 # Route Points: 860 # 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: 1851.142588 (m) # Abort Vehicle Depth: 1876.142588 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1804.274963 m # Spiral descent altitude: 50 m # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 20 (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 -129.960188 46.097645 -1864.274963 0.000000 3 # 1 -129.969206 46.134192 -1849.380310 4120.341085 3 # 2 -129.997662 46.099069 -1764.961273 8599.948283 3 # 3 -129.996000 46.098400 -1776.214508 8748.377651 3 # 4 -129.967760 46.133178 -1849.521179 13186.409454 3 # 5 -129.966142 46.132466 -1863.640625 13334.337562 3 # 6 -129.997453 46.093913 -1774.656525 18254.368076 3 # 7 -129.995762 46.093250 -1786.688660 18404.424045 3 # 8 -129.964259 46.132095 -1826.867371 23360.013349 3 # 9 -129.962568 46.131431 -1810.273407 23510.044832 3 # 10 -129.994072 46.092587 -1783.774719 28465.588038 3 # 11 -129.992382 46.091924 -1764.904938 28615.579309 3 # 12 -129.961029 46.130589 -1811.631500 33548.079955 3 # 13 -129.959303 46.129920 -1833.971893 33700.744430 3 # 14 -129.990692 46.091261 -1745.662354 38634.044567 3 # 15 -129.989002 46.090598 -1745.676727 38784.038484 3 # 16 -129.957728 46.129100 -1819.483826 43697.792236 3 # 17 -129.956067 46.128431 -1834.080688 43846.093704 3 # 18 -129.987256 46.090138 -1738.869415 48736.410383 3 # 19 -129.985540 46.089473 -1742.435120 48888.268724 3 # 20 -129.954686 46.127417 -1847.752441 53732.099692 3 # 21 -129.953025 46.126684 -1885.081116 53884.093743 3 # 22 -129.983803 46.088830 -1729.742767 58716.341342 3 # 23 -129.982066 46.088122 -1731.506897 58871.982498 3 # 24 -129.951472 46.125842 -1867.099274 63684.286385 3 # 25 -129.949789 46.125066 -1891.865936 63840.310210 3 # 26 -129.980371 46.087436 -1736.421997 68643.463891 3 # 27 -129.978720 46.086835 -1739.078125 68787.526185 3 # 28 -129.948214 46.124311 -1868.437012 73572.906557 3 # 29 -129.946553 46.123642 -1860.750580 73721.217422 3 # 30 -129.976897 46.086213 -1742.291931 78495.903103 3 # 31 -129.975159 46.085505 -1747.125305 78651.616286 3 # 32 -129.953910 46.111755 -1868.447998 81999.108938 3 # 33 -129.952313 46.111086 -1881.594910 82143.186250 3 # 34 -129.973508 46.084969 -1746.231293 85475.763332 3 # 35 -129.971814 46.084283 -1761.883606 85627.308536 3 # 36 -129.950674 46.110266 -1879.849762 88944.841330 4 # # A total of 860 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 = 1851.142588; abortDepth = 1876.142588; 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 = 2785; 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 36 # Segment length 169.202767 meters # Minimum depth: 1856.696761 meters looking forward 100.000000 meters along route # Maximum depth: 1879.849762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.696761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110266; longitude = -129.950674; duration = 676; # abortOnTimeout = True; initialDepth = 1790.551904; finalDepth = 1806.696761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1530010000001 # Actual altitude: 73.1530010000001 # Commanded vehicle depth: 1806.696761 # Seafloor depth: -1879.849762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.563974 meters # Minimum depth: 1840.551904 meters looking forward 100.000000 meters along route # Maximum depth: 1861.574321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.551904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108941; longitude = -129.951752; duration = 406; initialDepth = 1786.347446; finalDepth = 1790.551904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1530010000001 # Actual altitude: 73.1530010000001 # Commanded vehicle depth: 1790.551904 # Seafloor depth: -1853.301781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.564327 meters # Minimum depth: 1836.347446 meters looking forward 100.000000 meters along route # Maximum depth: 1860.919786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.347446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108145; longitude = -129.952399; duration = 406; initialDepth = 1811.124209; finalDepth = 1786.347446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.749877 # Actual altitude: 62.749877 # Commanded vehicle depth: 1786.347446 # Seafloor depth: -1846.363751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.564679 meters # Minimum depth: 1861.124209 meters looking forward 100.000000 meters along route # Maximum depth: 1862.814480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.124209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107350; longitude = -129.953047; duration = 406; initialDepth = 1811.682298; finalDepth = 1811.124209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0163050000001 # Actual altitude: 60.0163050000001 # Commanded vehicle depth: 1811.124209 # Seafloor depth: -1861.823439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.781746 meters # Minimum depth: 1861.682298 meters looking forward 100.000000 meters along route # Maximum depth: 1864.875824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.682298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106554; longitude = -129.953694; duration = 407; initialDepth = 1812.228316; finalDepth = 1811.682298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6992299999999 # Actual altitude: 50.6992299999999 # Commanded vehicle depth: 1811.682298 # Seafloor depth: -1861.682298 # 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 36 # Segment length 101.348673 meters # Minimum depth: 1862.228316 meters looking forward 100.000000 meters along route # Maximum depth: 1867.907584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.228316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105757; longitude = -129.954343; duration = 405; initialDepth = 1814.958779; finalDepth = 1812.228316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2831169999999 # Actual altitude: 50.2831169999999 # Commanded vehicle depth: 1812.228316 # Seafloor depth: -1862.511433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.565739 meters # Minimum depth: 1864.958779 meters looking forward 100.000000 meters along route # Maximum depth: 1868.107342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.958779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104963; longitude = -129.954988; duration = 406; initialDepth = 1811.735344; finalDepth = 1814.958779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4627009999999 # Actual altitude: 52.4627009999999 # Commanded vehicle depth: 1814.958779 # Seafloor depth: -1867.421480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.834314 meters # Minimum depth: 1861.735344 meters looking forward 100.000000 meters along route # Maximum depth: 1865.211109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.735344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104168; longitude = -129.955636; duration = 411; initialDepth = 1811.810123; finalDepth = 1811.735344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4757650000001 # Actual altitude: 53.4757650000001 # Commanded vehicle depth: 1811.735344 # Seafloor depth: -1865.211109 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.298223 meters # Minimum depth: 1861.810123 meters looking forward 100.000000 meters along route # Maximum depth: 1870.158018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.810123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103362; longitude = -129.956291; duration = 401; initialDepth = 1820.421703; finalDepth = 1811.810123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4757650000001 # Actual altitude: 53.4757650000001 # Commanded vehicle depth: 1811.810123 # Seafloor depth: -1861.810123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.566798 meters # Minimum depth: 1870.421703 meters looking forward 100.000000 meters along route # Maximum depth: 1876.535361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.421703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102577; longitude = -129.956930; duration = 406; initialDepth = 1815.308786; finalDepth = 1820.421703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1820.421703 # Seafloor depth: -1870.421703 # 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 36 # Segment length 101.567151 meters # Minimum depth: 1865.308786 meters looking forward 100.000000 meters along route # Maximum depth: 1874.175834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.308786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101781; longitude = -129.957577; duration = 406; initialDepth = 1813.632173; finalDepth = 1815.308786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8670479999998 # Actual altitude: 58.8670479999998 # Commanded vehicle depth: 1815.308786 # Seafloor depth: -1874.175834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.567504 meters # Minimum depth: 1863.632173 meters looking forward 100.000000 meters along route # Maximum depth: 1865.753186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.632173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100986; longitude = -129.958224; duration = 406; initialDepth = 1811.726371; finalDepth = 1813.632173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8670479999998 # Actual altitude: 58.8670479999998 # Commanded vehicle depth: 1813.632173 # Seafloor depth: -1865.164792 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.567857 meters # Minimum depth: 1861.726371 meters looking forward 100.000000 meters along route # Maximum depth: 1865.995314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.726371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100190; longitude = -129.958872; duration = 406; initialDepth = 1814.417485; finalDepth = 1811.726371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0888850000001 # Actual altitude: 52.0888850000001 # Commanded vehicle depth: 1811.726371 # Seafloor depth: -1863.815256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.568211 meters # Minimum depth: 1864.417485 meters looking forward 100.000000 meters along route # Maximum depth: 1867.405876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.417485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099395; longitude = -129.959519; duration = 406; initialDepth = 1814.585483; finalDepth = 1814.417485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0888850000001 # Actual altitude: 52.0888850000001 # Commanded vehicle depth: 1814.417485 # Seafloor depth: -1864.417485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.535820 meters # Minimum depth: 1864.585483 meters looking forward 100.000000 meters along route # Maximum depth: 1866.375261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.585483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098599; longitude = -129.960166; duration = 410; initialDepth = 1813.016366; finalDepth = 1814.585483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1010139999999 # Actual altitude: 51.1010139999999 # Commanded vehicle depth: 1814.585483 # Seafloor depth: -1865.686497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.601660 meters # Minimum depth: 1863.016366 meters looking forward 100.000000 meters along route # Maximum depth: 1866.994227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.016366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097796; longitude = -129.960819; duration = 402; initialDepth = 1812.484241; finalDepth = 1813.016366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2144509999998 # Actual altitude: 52.2144509999998 # Commanded vehicle depth: 1813.016366 # Seafloor depth: -1865.230817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.569269 meters # Minimum depth: 1862.484241 meters looking forward 100.000000 meters along route # Maximum depth: 1865.224419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.484241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097008; longitude = -129.961461; duration = 406; initialDepth = 1811.489591; finalDepth = 1812.484241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2144509999998 # Actual altitude: 52.2144509999998 # Commanded vehicle depth: 1812.484241 # Seafloor depth: -1864.481887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.569623 meters # Minimum depth: 1861.489591 meters looking forward 100.000000 meters along route # Maximum depth: 1865.129973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.489591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096213; longitude = -129.962108; duration = 406; initialDepth = 1810.831719; finalDepth = 1811.489591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9976459999998 # Actual altitude: 51.9976459999998 # Commanded vehicle depth: 1811.489591 # Seafloor depth: -1862.330174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.569976 meters # Minimum depth: 1860.831719 meters looking forward 100.000000 meters along route # Maximum depth: 1863.759735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.831719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095417; longitude = -129.962755; duration = 406; initialDepth = 1810.348201; finalDepth = 1810.831719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.377565 # Actual altitude: 51.377565 # Commanded vehicle depth: 1810.831719 # Seafloor depth: -1862.209284 # 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 36 # Segment length 101.570329 meters # Minimum depth: 1860.348201 meters looking forward 100.000000 meters along route # Maximum depth: 1867.328332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.348201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094622; longitude = -129.963402; duration = 406; initialDepth = 1803.286522; finalDepth = 1810.348201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.377565 # Actual altitude: 51.377565 # Commanded vehicle depth: 1810.348201 # Seafloor depth: -1860.762671 # 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 36 # Segment length 101.570682 meters # Minimum depth: 1853.286522 meters looking forward 100.000000 meters along route # Maximum depth: 1866.064764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.286522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093826; longitude = -129.964049; duration = 406; initialDepth = 1755.164881; finalDepth = 1803.286522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7782419999999 # Actual altitude: 62.7782419999999 # Commanded vehicle depth: 1803.286522 # Seafloor depth: -1866.064764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.237312 meters # Minimum depth: 1805.164881 meters looking forward 100.000000 meters along route # Maximum depth: 1854.320303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.164881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093031; longitude = -129.964697; duration = 408; initialDepth = 1735.055763; finalDepth = 1755.164881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.155422 # Actual altitude: 99.155422 # Commanded vehicle depth: 1755.164881 # Seafloor depth: -1854.320303 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.905112 meters # Minimum depth: 1785.055763 meters looking forward 100.000000 meters along route # Maximum depth: 1804.736806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.055763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092230; longitude = -129.965348; duration = 403; initialDepth = 1726.509971; finalDepth = 1735.055763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.155422 # Actual altitude: 99.155422 # Commanded vehicle depth: 1735.055763 # Seafloor depth: -1804.505446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.571741 meters # Minimum depth: 1776.509971 meters looking forward 100.000000 meters along route # Maximum depth: 1784.791791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.509971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091440; longitude = -129.965991; duration = 406; initialDepth = 1726.537588; finalDepth = 1726.509971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.4496829999998 # Actual altitude: 69.4496829999998 # Commanded vehicle depth: 1726.509971 # Seafloor depth: -1784.791791 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.572095 meters # Minimum depth: 1776.537588 meters looking forward 100.000000 meters along route # Maximum depth: 1780.142875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.537588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090644; longitude = -129.966638; duration = 406; initialDepth = 1725.197922; finalDepth = 1726.537588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2818200000002 # Actual altitude: 58.2818200000002 # Commanded vehicle depth: 1726.537588 # Seafloor depth: -1776.611440 # 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 36 # Segment length 101.572448 meters # Minimum depth: 1775.197922 meters looking forward 100.000000 meters along route # Maximum depth: 1777.419276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.197922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089849; longitude = -129.967285; duration = 406; initialDepth = 1725.061802; finalDepth = 1725.197922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.333005 # Actual altitude: 50.333005 # Commanded vehicle depth: 1725.197922 # Seafloor depth: -1775.530927 # 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 36 # Segment length 101.572801 meters # Minimum depth: 1775.061802 meters looking forward 100.000000 meters along route # Maximum depth: 1777.170326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.061802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089053; longitude = -129.967933; duration = 406; initialDepth = 1725.248417; finalDepth = 1725.061802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.333005 # Actual altitude: 50.333005 # Commanded vehicle depth: 1725.061802 # Seafloor depth: -1775.293257 # 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 36 # Segment length 101.573154 meters # Minimum depth: 1775.248417 meters looking forward 100.000000 meters along route # Maximum depth: 1779.108103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.248417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088258; longitude = -129.968580; duration = 406; initialDepth = 1727.461540; finalDepth = 1725.248417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9204500000001 # Actual altitude: 50.9204500000001 # Commanded vehicle depth: 1725.248417 # Seafloor depth: -1776.168867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.938789 meters # Minimum depth: 1777.461540 meters looking forward 100.000000 meters along route # Maximum depth: 1780.136459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.461540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087462; longitude = -129.969227; duration = 407; initialDepth = 1729.432567; finalDepth = 1727.461540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9204500000001 # Actual altitude: 50.9204500000001 # Commanded vehicle depth: 1727.46154 # Seafloor depth: -1778.172822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.208579 meters # Minimum depth: 1779.432567 meters looking forward 100.000000 meters along route # Maximum depth: 1782.837962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.432567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086664; longitude = -129.969877; duration = 404; initialDepth = 1731.480147; finalDepth = 1729.432567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7401359999999 # Actual altitude: 50.7401359999999 # Commanded vehicle depth: 1729.432567 # Seafloor depth: -1780.172703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.574214 meters # Minimum depth: 1781.480147 meters looking forward 100.000000 meters along route # Maximum depth: 1784.076216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.480147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085871; longitude = -129.970522; duration = 406; initialDepth = 1713.553126; finalDepth = 1731.480147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7401359999999 # Actual altitude: 50.7401359999999 # Commanded vehicle depth: 1731.480147 # Seafloor depth: -1781.952447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 101.257227 meters # Minimum depth: 1763.553126 meters looking forward 100.000000 meters along route # Maximum depth: 1780.710532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.553126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085076; longitude = -129.971169; duration = 405; initialDepth = 1696.748886; finalDepth = 1713.553126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.157406 # Actual altitude: 67.157406 # Commanded vehicle depth: 1713.553126 # Seafloor depth: -1780.710532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.29; 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 35 # Segment length 151.545204 meters # Minimum depth: 1746.748886 meters looking forward 100.000000 meters along route # Maximum depth: 1761.883606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.748886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084283; longitude = -129.971814; duration = 606; # abortOnTimeout = True; initialDepth = 1696.231293; finalDepth = 1696.748886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.157406 # Actual altitude: 67.157406 # Commanded vehicle depth: 1696.748886 # Seafloor depth: -1761.883606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.29; 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 34 # Segment length 175.017518 meters # Minimum depth: 1746.231293 meters looking forward 100.000000 meters along route # Maximum depth: 1762.627035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.231293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084969; longitude = -129.973508; duration = 700; # abortOnTimeout = True; initialDepth = 1712.632433; finalDepth = 1696.231293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.13472 # Actual altitude: 65.13472 # Commanded vehicle depth: 1696.231293 # Seafloor depth: -1746.231293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.210022 meters # Minimum depth: 1762.632433 meters looking forward 100.000000 meters along route # Maximum depth: 1780.021046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.632433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086341; longitude = -129.972395; duration = 404; initialDepth = 1728.836666; finalDepth = 1712.632433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1712.632433 # Seafloor depth: -1762.632433 # 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 34 # Segment length 101.769456 meters # Minimum depth: 1778.836666 meters looking forward 100.000000 meters along route # Maximum depth: 1780.492188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.836666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087134; longitude = -129.971751; duration = 407; initialDepth = 1728.718472; finalDepth = 1728.836666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1728.836666 # Seafloor depth: -1778.836666 # 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 34 # Segment length 102.603599 meters # Minimum depth: 1778.718472 meters looking forward 100.000000 meters along route # Maximum depth: 1781.052441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.718472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087931; longitude = -129.971104; duration = 410; initialDepth = 1727.957019; finalDepth = 1728.718472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.333969 # Actual altitude: 52.333969 # Commanded vehicle depth: 1728.718472 # Seafloor depth: -1781.052441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.934253 meters # Minimum depth: 1777.957019 meters looking forward 100.000000 meters along route # Maximum depth: 1780.446979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.957019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088735; longitude = -129.970452; duration = 403; initialDepth = 1728.219409; finalDepth = 1727.957019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.333969 # Actual altitude: 52.333969 # Commanded vehicle depth: 1727.957019 # Seafloor depth: -1778.814838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.768396 meters # Minimum depth: 1778.219409 meters looking forward 100.000000 meters along route # Maximum depth: 1780.730824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.219409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089526; longitude = -129.969810; duration = 407; initialDepth = 1727.800487; finalDepth = 1728.219409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.823574 # Actual altitude: 51.823574 # Commanded vehicle depth: 1728.219409 # Seafloor depth: -1780.042983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.877242 meters # Minimum depth: 1777.800487 meters looking forward 100.000000 meters along route # Maximum depth: 1780.598902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.800487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090324; longitude = -129.969162; duration = 411; initialDepth = 1728.908006; finalDepth = 1727.800487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.823574 # Actual altitude: 51.823574 # Commanded vehicle depth: 1727.800487 # Seafloor depth: -1779.577802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.658490 meters # Minimum depth: 1778.908006 meters looking forward 100.000000 meters along route # Maximum depth: 1788.297498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.908006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091130; longitude = -129.968508; duration = 402; initialDepth = 1738.317827; finalDepth = 1728.908006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9198530000001 # Actual altitude: 51.9198530000001 # Commanded vehicle depth: 1728.908006 # Seafloor depth: -1780.827859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.767336 meters # Minimum depth: 1788.317827 meters looking forward 100.000000 meters along route # Maximum depth: 1803.449493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.317827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091919; longitude = -129.967868; duration = 407; initialDepth = 1754.292429; finalDepth = 1738.317827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9198530000001 # Actual altitude: 51.9198530000001 # Commanded vehicle depth: 1738.317827 # Seafloor depth: -1788.317827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.150879 meters # Minimum depth: 1804.292429 meters looking forward 100.000000 meters along route # Maximum depth: 1824.985713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.292429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092716; longitude = -129.967221; duration = 412; initialDepth = 1774.723438; finalDepth = 1754.292429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.292429 # Seafloor depth: -1804.292429 # 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 34 # Segment length 100.382733 meters # Minimum depth: 1824.723438 meters looking forward 100.000000 meters along route # Maximum depth: 1842.301637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.723438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093525; longitude = -129.966565; duration = 401; initialDepth = 1780.613114; finalDepth = 1774.723438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.723438 # Seafloor depth: -1824.723438 # 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 34 # Segment length 101.766276 meters # Minimum depth: 1830.613114 meters looking forward 100.000000 meters along route # Maximum depth: 1841.233057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.613114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094311; longitude = -129.965926; duration = 407; initialDepth = 1779.720961; finalDepth = 1780.613114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3748720000001 # Actual altitude: 59.3748720000001 # Commanded vehicle depth: 1780.613114 # Seafloor depth: -1839.987986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.424510 meters # Minimum depth: 1829.720961 meters looking forward 100.000000 meters along route # Maximum depth: 1832.509862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.720961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095109; longitude = -129.965279; duration = 413; initialDepth = 1779.473590; finalDepth = 1779.720961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3748720000001 # Actual altitude: 59.3748720000001 # Commanded vehicle depth: 1779.720961 # Seafloor depth: -1831.288167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 100.106982 meters # Minimum depth: 1829.473590 meters looking forward 100.000000 meters along route # Maximum depth: 1845.775324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.473590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095919; longitude = -129.964621; duration = 400; initialDepth = 1795.750671; finalDepth = 1779.473590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.634634 # Actual altitude: 51.634634 # Commanded vehicle depth: 1779.47359 # Seafloor depth: -1831.108224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.765216 meters # Minimum depth: 1845.750671 meters looking forward 100.000000 meters along route # Maximum depth: 1854.254461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.750671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096704; longitude = -129.963985; duration = 407; initialDepth = 1800.622746; finalDepth = 1795.750671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.634634 # Actual altitude: 51.634634 # Commanded vehicle depth: 1795.750671 # Seafloor depth: -1845.750671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.764863 meters # Minimum depth: 1850.622746 meters looking forward 100.000000 meters along route # Maximum depth: 1854.349276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.622746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097501; longitude = -129.963337; duration = 407; initialDepth = 1792.444234; finalDepth = 1800.622746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.138616 # Actual altitude: 52.138616 # Commanded vehicle depth: 1800.622746 # Seafloor depth: -1852.761362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.764509 meters # Minimum depth: 1842.444234 meters looking forward 100.000000 meters along route # Maximum depth: 1856.728065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.444234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098299; longitude = -129.962690; duration = 407; initialDepth = 1781.398744; finalDepth = 1792.444234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6727209999999 # Actual altitude: 60.6727209999999 # Commanded vehicle depth: 1792.444234 # Seafloor depth: -1853.116955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.764157 meters # Minimum depth: 1831.398744 meters looking forward 100.000000 meters along route # Maximum depth: 1842.309786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.398744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099096; longitude = -129.962043; duration = 407; initialDepth = 1773.505320; finalDepth = 1781.398744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.911042 # Actual altitude: 60.911042 # Commanded vehicle depth: 1781.398744 # Seafloor depth: -1842.309786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.763802 meters # Minimum depth: 1823.505320 meters looking forward 100.000000 meters along route # Maximum depth: 1836.701320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.505320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099894; longitude = -129.961396; duration = 407; initialDepth = 1788.015870; finalDepth = 1773.505320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.911042 # Actual altitude: 60.911042 # Commanded vehicle depth: 1773.50532 # Seafloor depth: -1831.347611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.763450 meters # Minimum depth: 1838.015870 meters looking forward 100.000000 meters along route # Maximum depth: 1844.869507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.015870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100691; longitude = -129.960749; duration = 407; initialDepth = 1790.311085; finalDepth = 1788.015870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8422909999999 # Actual altitude: 57.8422909999999 # Commanded vehicle depth: 1788.01587 # Seafloor depth: -1842.305955 # 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 34 # Segment length 101.763096 meters # Minimum depth: 1840.311085 meters looking forward 100.000000 meters along route # Maximum depth: 1868.510727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.311085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101489; longitude = -129.960101; duration = 407; initialDepth = 1813.292571; finalDepth = 1790.311085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2900850000001 # Actual altitude: 54.2900850000001 # Commanded vehicle depth: 1790.311085 # Seafloor depth: -1840.311085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.762743 meters # Minimum depth: 1863.292571 meters looking forward 100.000000 meters along route # Maximum depth: 1869.242786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.292571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102286; longitude = -129.959454; duration = 407; initialDepth = 1813.181474; finalDepth = 1813.292571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.099326 # Actual altitude: 55.099326 # Commanded vehicle depth: 1813.292571 # Seafloor depth: -1868.391897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.762390 meters # Minimum depth: 1863.181474 meters looking forward 100.000000 meters along route # Maximum depth: 1865.425439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.181474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103084; longitude = -129.958807; duration = 407; initialDepth = 1812.224123; finalDepth = 1813.181474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.099326 # Actual altitude: 55.099326 # Commanded vehicle depth: 1813.181474 # Seafloor depth: -1863.583945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.762037 meters # Minimum depth: 1862.224123 meters looking forward 100.000000 meters along route # Maximum depth: 1865.652623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.224123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103882; longitude = -129.958160; duration = 407; initialDepth = 1812.610139; finalDepth = 1812.224123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.007323 # Actual altitude: 53.007323 # Commanded vehicle depth: 1812.224123 # Seafloor depth: -1865.231446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.761683 meters # Minimum depth: 1862.610139 meters looking forward 100.000000 meters along route # Maximum depth: 1867.171439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.610139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104679; longitude = -129.957512; duration = 407; initialDepth = 1813.428934; finalDepth = 1812.610139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.007323 # Actual altitude: 53.007323 # Commanded vehicle depth: 1812.610139 # Seafloor depth: -1862.951363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.857403 meters # Minimum depth: 1863.428934 meters looking forward 100.000000 meters along route # Maximum depth: 1866.659274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.428934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105477; longitude = -129.956865; duration = 407; initialDepth = 1810.131133; finalDepth = 1813.428934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5426029999999 # Actual altitude: 52.5426029999999 # Commanded vehicle depth: 1813.428934 # Seafloor depth: -1865.971537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.664904 meters # Minimum depth: 1860.131133 meters looking forward 100.000000 meters along route # Maximum depth: 1865.229837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.131133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106275; longitude = -129.956217; duration = 406; initialDepth = 1811.971543; finalDepth = 1810.131133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2672809999999 # Actual altitude: 53.2672809999999 # Commanded vehicle depth: 1810.131133 # Seafloor depth: -1863.398414 # 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 34 # Segment length 101.760623 meters # Minimum depth: 1861.971543 meters looking forward 100.000000 meters along route # Maximum depth: 1864.121204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.971543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107072; longitude = -129.955571; duration = 407; initialDepth = 1811.634339; finalDepth = 1811.971543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2672809999999 # Actual altitude: 53.2672809999999 # Commanded vehicle depth: 1811.971543 # Seafloor depth: -1863.485252 # 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 34 # Segment length 102.131033 meters # Minimum depth: 1861.634339 meters looking forward 100.000000 meters along route # Maximum depth: 1863.879234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.634339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107869; longitude = -129.954924; duration = 408; initialDepth = 1811.535178; finalDepth = 1811.634339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1544610000001 # Actual altitude: 52.1544610000001 # Commanded vehicle depth: 1811.634339 # Seafloor depth: -1863.788800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.389155 meters # Minimum depth: 1861.535178 meters looking forward 100.000000 meters along route # Maximum depth: 1865.799040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.535178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108670; longitude = -129.954274; duration = 405; initialDepth = 1811.111842; finalDepth = 1811.535178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1544610000001 # Actual altitude: 52.1544610000001 # Commanded vehicle depth: 1811.535178 # Seafloor depth: -1862.863887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.066177 meters # Minimum depth: 1861.111842 meters looking forward 100.000000 meters along route # Maximum depth: 1865.920157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.111842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109464; longitude = -129.953629; duration = 420; initialDepth = 1816.701143; finalDepth = 1811.111842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3287089999999 # Actual altitude: 51.3287089999999 # Commanded vehicle depth: 1811.111842 # Seafloor depth: -1861.525655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 101.872149 meters # Minimum depth: 1866.701143 meters looking forward 100.000000 meters along route # Maximum depth: 1879.315277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.701143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110288; longitude = -129.952961; duration = 407; initialDepth = 1818.054567; finalDepth = 1816.701143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.4138129999999 # Actual altitude: 50.4138129999999 # Commanded vehicle depth: 1816.701143 # Seafloor depth: -1866.701143 # 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; } # ####################################################### # # 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 33 # Segment length 144.077312 meters # Minimum depth: 1868.054567 meters looking forward 100.000000 meters along route # Maximum depth: 1881.594910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.054567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111086; longitude = -129.952313; duration = 576; # abortOnTimeout = True; initialDepth = 1818.054567; finalDepth = 1818.054567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.5403430000001 # Actual altitude: 63.5403430000001 # Commanded vehicle depth: 1818.054567 # Seafloor depth: -1881.594910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.12; 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 32 # Segment length 79.827810 meters # Minimum depth: 1868.054567 meters looking forward 100.000000 meters along route # Maximum depth: 1880.145324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.054567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111755; longitude = -129.953910; duration = 319; # abortOnTimeout = True; initialDepth = 1820.255809; finalDepth = 1818.054567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5403430000001 # Actual altitude: 63.5403430000001 # Commanded vehicle depth: 1818.054567 # Seafloor depth: -1868.447998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.237166 meters # Minimum depth: 1870.255809 meters looking forward 100.000000 meters along route # Maximum depth: 1876.505317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.255809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111129; longitude = -129.954417; duration = 400; initialDepth = 1815.699291; finalDepth = 1820.255809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2495080000001 # Actual altitude: 56.2495080000001 # Commanded vehicle depth: 1820.255809 # Seafloor depth: -1876.505317 # 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 32 # Segment length 101.955500 meters # Minimum depth: 1865.699291 meters looking forward 100.000000 meters along route # Maximum depth: 1873.209713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.699291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110343; longitude = -129.955053; duration = 407; initialDepth = 1814.222895; finalDepth = 1815.699291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1978880000001 # Actual altitude: 57.1978880000001 # Commanded vehicle depth: 1815.699291 # Seafloor depth: -1872.897179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.173978 meters # Minimum depth: 1864.222895 meters looking forward 100.000000 meters along route # Maximum depth: 1866.129020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.222895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109543; longitude = -129.955700; duration = 412; initialDepth = 1814.133308; finalDepth = 1814.222895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1978880000001 # Actual altitude: 57.1978880000001 # Commanded vehicle depth: 1814.222895 # Seafloor depth: -1865.686071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.738084 meters # Minimum depth: 1864.133308 meters looking forward 100.000000 meters along route # Maximum depth: 1866.603328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.133308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108734; longitude = -129.956355; duration = 402; initialDepth = 1813.387452; finalDepth = 1814.133308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7825540000001 # Actual altitude: 51.7825540000001 # Commanded vehicle depth: 1814.133308 # Seafloor depth: -1865.915862 # 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 32 # Segment length 101.956561 meters # Minimum depth: 1863.387452 meters looking forward 100.000000 meters along route # Maximum depth: 1867.077259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.387452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107944; longitude = -129.956995; duration = 407; initialDepth = 1817.832711; finalDepth = 1813.387452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7825540000001 # Actual altitude: 51.7825540000001 # Commanded vehicle depth: 1813.387452 # Seafloor depth: -1864.043273 # 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 32 # Segment length 102.675169 meters # Minimum depth: 1867.832711 meters looking forward 100.000000 meters along route # Maximum depth: 1874.994963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.832711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107145; longitude = -129.957642; duration = 410; initialDepth = 1816.653753; finalDepth = 1817.832711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6558210000001 # Actual altitude: 50.6558210000001 # Commanded vehicle depth: 1817.832711 # Seafloor depth: -1867.832711 # 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 32 # Segment length 101.239013 meters # Minimum depth: 1866.653753 meters looking forward 100.000000 meters along route # Maximum depth: 1876.659136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.653753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106340; longitude = -129.958294; duration = 404; initialDepth = 1813.087457; finalDepth = 1816.653753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4315770000001 # Actual altitude: 56.4315770000001 # Commanded vehicle depth: 1816.653753 # Seafloor depth: -1873.085330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.957621 meters # Minimum depth: 1863.087457 meters looking forward 100.000000 meters along route # Maximum depth: 1866.428988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.087457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105546; longitude = -129.958936; duration = 407; initialDepth = 1800.834715; finalDepth = 1813.087457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4315770000001 # Actual altitude: 56.4315770000001 # Commanded vehicle depth: 1813.087457 # Seafloor depth: -1866.428988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.176350 meters # Minimum depth: 1850.834715 meters looking forward 100.000000 meters along route # Maximum depth: 1867.444311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.834715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104746; longitude = -129.959584; duration = 408; initialDepth = 1774.577185; finalDepth = 1800.834715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.93949 # Actual altitude: 65.93949 # Commanded vehicle depth: 1800.834715 # Seafloor depth: -1866.774205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.739952 meters # Minimum depth: 1824.577185 meters looking forward 100.000000 meters along route # Maximum depth: 1850.708204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.577185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103945; longitude = -129.960232; duration = 406; initialDepth = 1774.291010; finalDepth = 1774.577185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1310189999999 # Actual altitude: 76.1310189999999 # Commanded vehicle depth: 1774.577185 # Seafloor depth: -1850.708204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.958682 meters # Minimum depth: 1824.291010 meters looking forward 100.000000 meters along route # Maximum depth: 1832.423214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.291010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103147; longitude = -129.960878; duration = 407; initialDepth = 1774.344822; finalDepth = 1774.291010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1310189999999 # Actual altitude: 76.1310189999999 # Commanded vehicle depth: 1774.29101 # Seafloor depth: -1824.585843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.959035 meters # Minimum depth: 1824.344822 meters looking forward 100.000000 meters along route # Maximum depth: 1834.515383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.344822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102347; longitude = -129.961525; duration = 407; initialDepth = 1776.417667; finalDepth = 1774.344822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1587380000001 # Actual altitude: 58.1587380000001 # Commanded vehicle depth: 1774.344822 # Seafloor depth: -1832.503560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.959388 meters # Minimum depth: 1826.417667 meters looking forward 100.000000 meters along route # Maximum depth: 1830.809609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.417667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101548; longitude = -129.962172; duration = 407; initialDepth = 1772.189455; finalDepth = 1776.417667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1587380000001 # Actual altitude: 58.1587380000001 # Commanded vehicle depth: 1776.417667 # Seafloor depth: -1826.417667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.959742 meters # Minimum depth: 1822.189455 meters looking forward 100.000000 meters along route # Maximum depth: 1830.593176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.189455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100748; longitude = -129.962820; duration = 407; initialDepth = 1771.366206; finalDepth = 1772.189455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4037210000001 # Actual altitude: 58.4037210000001 # Commanded vehicle depth: 1772.189455 # Seafloor depth: -1830.593176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.960095 meters # Minimum depth: 1821.366206 meters looking forward 100.000000 meters along route # Maximum depth: 1831.723033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.366206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099949; longitude = -129.963467; duration = 407; initialDepth = 1780.053271; finalDepth = 1771.366206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4037210000001 # Actual altitude: 58.4037210000001 # Commanded vehicle depth: 1771.366206 # Seafloor depth: -1821.488637 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.960449 meters # Minimum depth: 1830.053271 meters looking forward 100.000000 meters along route # Maximum depth: 1833.315016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.053271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099149; longitude = -129.964114; duration = 407; initialDepth = 1770.104230; finalDepth = 1780.053271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.122431 # Actual altitude: 50.122431 # Commanded vehicle depth: 1780.053271 # Seafloor depth: -1830.141737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.597316 meters # Minimum depth: 1820.104230 meters looking forward 100.000000 meters along route # Maximum depth: 1834.246839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.104230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098350; longitude = -129.964761; duration = 414; initialDepth = 1768.863096; finalDepth = 1770.104230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.901112 # Actual altitude: 62.901112 # Commanded vehicle depth: 1770.10423 # Seafloor depth: -1833.005342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.324642 meters # Minimum depth: 1818.863096 meters looking forward 100.000000 meters along route # Maximum depth: 1821.157380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.863096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097537; longitude = -129.965419; duration = 401; initialDepth = 1767.098473; finalDepth = 1768.863096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.901112 # Actual altitude: 62.901112 # Commanded vehicle depth: 1768.863096 # Seafloor depth: -1820.032474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.961510 meters # Minimum depth: 1817.098473 meters looking forward 100.000000 meters along route # Maximum depth: 1825.262398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.098473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096751; longitude = -129.966056; duration = 407; initialDepth = 1770.813612; finalDepth = 1767.098473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0927710000001 # Actual altitude: 52.0927710000001 # Commanded vehicle depth: 1767.098473 # Seafloor depth: -1819.191244 # 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 32 # Segment length 103.098488 meters # Minimum depth: 1820.813612 meters looking forward 100.000000 meters along route # Maximum depth: 1825.134724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.813612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095951; longitude = -129.966703; duration = 412; initialDepth = 1769.669029; finalDepth = 1770.813612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4535190000001 # Actual altitude: 53.4535190000001 # Commanded vehicle depth: 1770.813612 # Seafloor depth: -1824.267131 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.825591 meters # Minimum depth: 1819.669029 meters looking forward 100.000000 meters along route # Maximum depth: 1823.444693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.669029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095143; longitude = -129.967357; duration = 403; initialDepth = 1744.583590; finalDepth = 1769.669029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4535190000001 # Actual altitude: 53.4535190000001 # Commanded vehicle depth: 1769.669029 # Seafloor depth: -1821.343881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.962570 meters # Minimum depth: 1794.583590 meters looking forward 100.000000 meters along route # Maximum depth: 1821.916657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.583590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094352; longitude = -129.967997; duration = 407; initialDepth = 1736.460399; finalDepth = 1744.583590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.333067 # Actual altitude: 77.333067 # Commanded vehicle depth: 1744.58359 # Seafloor depth: -1821.916657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.599650 meters # Minimum depth: 1786.460399 meters looking forward 100.000000 meters along route # Maximum depth: 1795.050016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.460399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093553; longitude = -129.968645; duration = 410; initialDepth = 1735.713724; finalDepth = 1736.460399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.333067 # Actual altitude: 77.333067 # Commanded vehicle depth: 1736.460399 # Seafloor depth: -1794.996306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.326550 meters # Minimum depth: 1785.713724 meters looking forward 100.000000 meters along route # Maximum depth: 1790.367366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.713724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092748; longitude = -129.969296; duration = 405; initialDepth = 1733.779140; finalDepth = 1735.713724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.535907 # Actual altitude: 58.535907 # Commanded vehicle depth: 1735.713724 # Seafloor depth: -1786.465761 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.963631 meters # Minimum depth: 1783.779140 meters looking forward 100.000000 meters along route # Maximum depth: 1789.501875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.779140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091953; longitude = -129.969939; duration = 407; initialDepth = 1727.472118; finalDepth = 1733.779140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7227349999998 # Actual altitude: 55.7227349999998 # Commanded vehicle depth: 1733.77914 # Seafloor depth: -1789.501875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.100801 meters # Minimum depth: 1777.472118 meters looking forward 100.000000 meters along route # Maximum depth: 1783.982600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.472118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091154; longitude = -129.970586; duration = 408; initialDepth = 1726.170415; finalDepth = 1727.472118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3373880000001 # Actual altitude: 56.3373880000001 # Commanded vehicle depth: 1727.472118 # Seafloor depth: -1783.809506 # 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 32 # Segment length 101.827520 meters # Minimum depth: 1776.170415 meters looking forward 100.000000 meters along route # Maximum depth: 1779.020674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.170415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090353; longitude = -129.971234; duration = 407; initialDepth = 1726.811222; finalDepth = 1726.170415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3373880000001 # Actual altitude: 56.3373880000001 # Commanded vehicle depth: 1726.170415 # Seafloor depth: -1778.094838 # 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 32 # Segment length 101.964692 meters # Minimum depth: 1776.811222 meters looking forward 100.000000 meters along route # Maximum depth: 1779.151593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.811222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089555; longitude = -129.971881; duration = 407; initialDepth = 1728.113252; finalDepth = 1726.811222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9244229999999 # Actual altitude: 51.9244229999999 # Commanded vehicle depth: 1726.811222 # Seafloor depth: -1778.179352 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.965044 meters # Minimum depth: 1778.113252 meters looking forward 100.000000 meters along route # Maximum depth: 1780.510424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.113252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088755; longitude = -129.972528; duration = 407; initialDepth = 1727.473380; finalDepth = 1728.113252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3681300000001 # Actual altitude: 51.3681300000001 # Commanded vehicle depth: 1728.113252 # Seafloor depth: -1778.889962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.965399 meters # Minimum depth: 1777.473380 meters looking forward 100.000000 meters along route # Maximum depth: 1781.070337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.473380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087956; longitude = -129.973175; duration = 407; initialDepth = 1704.384557; finalDepth = 1727.473380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0308010000001 # Actual altitude: 53.0308010000001 # Commanded vehicle depth: 1727.47338 # Seafloor depth: -1780.504181 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 104.020696 meters # Minimum depth: 1754.384557 meters looking forward 100.000000 meters along route # Maximum depth: 1777.448823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.384557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087156; longitude = -129.973822; duration = 416; initialDepth = 1695.197402; finalDepth = 1704.384557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6921519999999 # Actual altitude: 72.6921519999999 # Commanded vehicle depth: 1704.384557 # Seafloor depth: -1777.076709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.553957 meters # Minimum depth: 1745.197402 meters looking forward 100.000000 meters along route # Maximum depth: 1754.010817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.197402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086341; longitude = -129.974483; duration = 426; initialDepth = 1691.284780; finalDepth = 1695.197402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.6921519999999 # Actual altitude: 72.6921519999999 # Commanded vehicle depth: 1695.197402 # Seafloor depth: -1754.010817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 155.713183 meters # Minimum depth: 1741.284780 meters looking forward 100.000000 meters along route # Maximum depth: 1755.776180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.284780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085505; longitude = -129.975159; duration = 622; # abortOnTimeout = True; initialDepth = 1691.284780; finalDepth = 1691.284780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.8134150000001 # Actual altitude: 58.8134150000001 # Commanded vehicle depth: 1691.28478 # Seafloor depth: -1747.125305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.29; 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 30 # Segment length 86.621176 meters # Minimum depth: 1741.284780 meters looking forward 100.000000 meters along route # Maximum depth: 1748.913076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.284780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086213; longitude = -129.976897; duration = 346; # abortOnTimeout = True; initialDepth = 1689.471166; finalDepth = 1691.284780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8405250000001 # Actual altitude: 55.8405250000001 # Commanded vehicle depth: 1691.28478 # Seafloor depth: -1742.291931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.043611 meters # Minimum depth: 1739.471166 meters looking forward 100.000000 meters along route # Maximum depth: 1752.244633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.471166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086892; longitude = -129.976347; duration = 412; initialDepth = 1702.643863; finalDepth = 1689.471166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2212669999999 # Actual altitude: 52.2212669999999 # Commanded vehicle depth: 1689.471166 # Seafloor depth: -1741.692433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.653711 meters # Minimum depth: 1752.643863 meters looking forward 100.000000 meters along route # Maximum depth: 1774.926814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.643863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087700; longitude = -129.975692; duration = 402; initialDepth = 1724.612170; finalDepth = 1702.643863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2212669999999 # Actual altitude: 52.2212669999999 # Commanded vehicle depth: 1702.643863 # Seafloor depth: -1752.643863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.848131 meters # Minimum depth: 1774.612170 meters looking forward 100.000000 meters along route # Maximum depth: 1778.928160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.612170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088489; longitude = -129.975052; duration = 407; initialDepth = 1723.039532; finalDepth = 1724.612170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1724.61217 # Seafloor depth: -1774.612170 # 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 30 # Segment length 103.003899 meters # Minimum depth: 1773.039532 meters looking forward 100.000000 meters along route # Maximum depth: 1779.249231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.039532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089287; longitude = -129.974405; duration = 412; initialDepth = 1725.975046; finalDepth = 1723.039532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5895869999999 # Actual altitude: 53.5895869999999 # Commanded vehicle depth: 1723.039532 # Seafloor depth: -1776.629119 # 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 30 # Segment length 100.691303 meters # Minimum depth: 1775.975046 meters looking forward 100.000000 meters along route # Maximum depth: 1781.441560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.975046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090094; longitude = -129.973750; duration = 402; initialDepth = 1728.355996; finalDepth = 1725.975046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5895869999999 # Actual altitude: 53.5895869999999 # Commanded vehicle depth: 1725.975046 # Seafloor depth: -1775.975046 # 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 30 # Segment length 101.847071 meters # Minimum depth: 1778.355996 meters looking forward 100.000000 meters along route # Maximum depth: 1781.002739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.355996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090884; longitude = -129.973110; duration = 407; initialDepth = 1729.859823; finalDepth = 1728.355996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.646743 # Actual altitude: 52.646743 # Commanded vehicle depth: 1728.355996 # Seafloor depth: -1781.002739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.964187 meters # Minimum depth: 1779.859823 meters looking forward 100.000000 meters along route # Maximum depth: 1782.714008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.859823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091682; longitude = -129.972463; duration = 411; initialDepth = 1732.933050; finalDepth = 1729.859823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.646743 # Actual altitude: 52.646743 # Commanded vehicle depth: 1729.859823 # Seafloor depth: -1779.859823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.728894 meters # Minimum depth: 1782.933050 meters looking forward 100.000000 meters along route # Maximum depth: 1787.677023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.933050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092489; longitude = -129.971809; duration = 402; initialDepth = 1737.808048; finalDepth = 1732.933050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.93305 # Seafloor depth: -1782.933050 # 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 30 # Segment length 101.846010 meters # Minimum depth: 1787.808048 meters looking forward 100.000000 meters along route # Maximum depth: 1798.543645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.808048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093279; longitude = -129.971169; duration = 407; initialDepth = 1751.629326; finalDepth = 1737.808048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.808048 # Seafloor depth: -1787.808048 # 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 30 # Segment length 102.924477 meters # Minimum depth: 1801.629326 meters looking forward 100.000000 meters along route # Maximum depth: 1817.753980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.629326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094077; longitude = -129.970522; duration = 411; initialDepth = 1767.875402; finalDepth = 1751.629326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1751.629326 # Seafloor depth: -1801.629326 # 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 30 # Segment length 100.766483 meters # Minimum depth: 1817.875402 meters looking forward 100.000000 meters along route # Maximum depth: 1822.687203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.875402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094884; longitude = -129.969868; duration = 403; initialDepth = 1770.885306; finalDepth = 1767.875402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.875402 # Seafloor depth: -1817.875402 # 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 30 # Segment length 101.844950 meters # Minimum depth: 1820.885306 meters looking forward 100.000000 meters along route # Maximum depth: 1821.695997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.885306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095674; longitude = -129.969227; duration = 407; initialDepth = 1768.329185; finalDepth = 1770.885306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6137990000002 # Actual altitude: 50.6137990000002 # Commanded vehicle depth: 1770.885306 # Seafloor depth: -1821.499105 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.884767 meters # Minimum depth: 1818.329185 meters looking forward 100.000000 meters along route # Maximum depth: 1821.302928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.329185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096472; longitude = -129.968580; duration = 411; initialDepth = 1767.634388; finalDepth = 1768.329185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.973743 # Actual altitude: 52.973743 # Commanded vehicle depth: 1768.329185 # Seafloor depth: -1821.302928 # 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 30 # Segment length 100.804072 meters # Minimum depth: 1817.634388 meters looking forward 100.000000 meters along route # Maximum depth: 1821.226207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.634388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097279; longitude = -129.967926; duration = 403; initialDepth = 1769.176956; finalDepth = 1767.634388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.973743 # Actual altitude: 52.973743 # Commanded vehicle depth: 1767.634388 # Seafloor depth: -1820.467392 # 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 30 # Segment length 101.843890 meters # Minimum depth: 1819.176956 meters looking forward 100.000000 meters along route # Maximum depth: 1820.856819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.176956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098069; longitude = -129.967285; duration = 407; initialDepth = 1767.729048; finalDepth = 1769.176956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8330040000001 # Actual altitude: 52.8330040000001 # Commanded vehicle depth: 1769.176956 # Seafloor depth: -1820.371104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.845058 meters # Minimum depth: 1817.729048 meters looking forward 100.000000 meters along route # Maximum depth: 1819.787906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.729048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098867; longitude = -129.966638; duration = 411; initialDepth = 1767.533374; finalDepth = 1767.729048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0588580000001 # Actual altitude: 52.0588580000001 # Commanded vehicle depth: 1767.729048 # Seafloor depth: -1819.787906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.841661 meters # Minimum depth: 1817.533374 meters looking forward 100.000000 meters along route # Maximum depth: 1819.628733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.533374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099673; longitude = -129.965985; duration = 403; initialDepth = 1767.232071; finalDepth = 1767.533374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0588580000001 # Actual altitude: 52.0588580000001 # Commanded vehicle depth: 1767.533374 # Seafloor depth: -1818.050169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.842830 meters # Minimum depth: 1817.232071 meters looking forward 100.000000 meters along route # Maximum depth: 1819.111281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.232071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100464; longitude = -129.965344; duration = 407; initialDepth = 1766.672728; finalDepth = 1767.232071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.406796 # Actual altitude: 51.406796 # Commanded vehicle depth: 1767.232071 # Seafloor depth: -1818.638867 # 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 30 # Segment length 102.805350 meters # Minimum depth: 1816.672728 meters looking forward 100.000000 meters along route # Maximum depth: 1818.522128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.672728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101262; longitude = -129.964697; duration = 411; initialDepth = 1767.549648; finalDepth = 1766.672728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.406796 # Actual altitude: 51.406796 # Commanded vehicle depth: 1766.672728 # Seafloor depth: -1817.907724 # 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 30 # Segment length 100.879248 meters # Minimum depth: 1817.549648 meters looking forward 100.000000 meters along route # Maximum depth: 1820.074546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.549648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102068; longitude = -129.964043; duration = 403; initialDepth = 1767.760360; finalDepth = 1767.549648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2349959999999 # Actual altitude: 51.2349959999999 # Commanded vehicle depth: 1767.549648 # Seafloor depth: -1817.549648 # 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 30 # Segment length 101.841770 meters # Minimum depth: 1817.760360 meters looking forward 100.000000 meters along route # Maximum depth: 1819.334899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.760360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102859; longitude = -129.963402; duration = 407; initialDepth = 1767.729649; finalDepth = 1767.760360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.574539 # Actual altitude: 51.574539 # Commanded vehicle depth: 1767.76036 # Seafloor depth: -1819.334899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.765642 meters # Minimum depth: 1817.729649 meters looking forward 100.000000 meters along route # Maximum depth: 1842.561637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.729649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103657; longitude = -129.962755; duration = 411; initialDepth = 1787.779995; finalDepth = 1767.729649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.574539 # Actual altitude: 51.574539 # Commanded vehicle depth: 1767.729649 # Seafloor depth: -1817.920707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.916836 meters # Minimum depth: 1837.779995 meters looking forward 100.000000 meters along route # Maximum depth: 1871.920215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.779995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104463; longitude = -129.962102; duration = 403; initialDepth = 1804.744722; finalDepth = 1787.779995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1910579999999 # Actual altitude: 50.1910579999999 # Commanded vehicle depth: 1787.779995 # Seafloor depth: -1837.779995 # 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 30 # Segment length 101.840709 meters # Minimum depth: 1854.744722 meters looking forward 100.000000 meters along route # Maximum depth: 1871.672199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.744722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105254; longitude = -129.961461; duration = 407; initialDepth = 1801.882403; finalDepth = 1804.744722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1865830000002 # Actual altitude: 66.1865830000002 # Commanded vehicle depth: 1804.744722 # Seafloor depth: -1870.931305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.725937 meters # Minimum depth: 1851.882403 meters looking forward 100.000000 meters along route # Maximum depth: 1856.585913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.882403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106052; longitude = -129.960813; duration = 410; initialDepth = 1799.692249; finalDepth = 1801.882403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1865830000002 # Actual altitude: 66.1865830000002 # Commanded vehicle depth: 1801.882403 # Seafloor depth: -1854.490520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.954422 meters # Minimum depth: 1849.692249 meters looking forward 100.000000 meters along route # Maximum depth: 1852.954495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.692249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106857; longitude = -129.960160; duration = 403; initialDepth = 1798.745793; finalDepth = 1799.692249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.608117 # Actual altitude: 52.608117 # Commanded vehicle depth: 1799.692249 # Seafloor depth: -1851.791700 # 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 30 # Segment length 101.839649 meters # Minimum depth: 1848.745793 meters looking forward 100.000000 meters along route # Maximum depth: 1851.861328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.745793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107649; longitude = -129.959519; duration = 407; initialDepth = 1800.388291; finalDepth = 1798.745793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.099451 # Actual altitude: 52.099451 # Commanded vehicle depth: 1798.745793 # Seafloor depth: -1850.780847 # 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 30 # Segment length 102.686231 meters # Minimum depth: 1850.388291 meters looking forward 100.000000 meters along route # Maximum depth: 1863.911871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.388291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108447; longitude = -129.958872; duration = 410; initialDepth = 1811.082083; finalDepth = 1800.388291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0350539999999 # Actual altitude: 52.0350539999999 # Commanded vehicle depth: 1800.388291 # Seafloor depth: -1851.021339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.992007 meters # Minimum depth: 1861.082083 meters looking forward 100.000000 meters along route # Maximum depth: 1865.832080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.082083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109252; longitude = -129.958219; duration = 403; initialDepth = 1801.300913; finalDepth = 1811.082083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.920464 # Actual altitude: 52.920464 # Commanded vehicle depth: 1811.082083 # Seafloor depth: -1864.002547 # 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 30 # Segment length 101.838589 meters # Minimum depth: 1851.300913 meters looking forward 100.000000 meters along route # Maximum depth: 1861.296932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.300913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110044; longitude = -129.957577; duration = 407; initialDepth = 1800.114312; finalDepth = 1801.300913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.653035 # Actual altitude: 59.653035 # Commanded vehicle depth: 1801.300913 # Seafloor depth: -1860.953948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.646527 meters # Minimum depth: 1850.114312 meters looking forward 100.000000 meters along route # Maximum depth: 1855.126563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.114312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110842; longitude = -129.956930; duration = 410; initialDepth = 1800.829427; finalDepth = 1800.114312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.653035 # Actual altitude: 59.653035 # Commanded vehicle depth: 1800.114312 # Seafloor depth: -1851.381248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.029592 meters # Minimum depth: 1850.829427 meters looking forward 100.000000 meters along route # Maximum depth: 1855.096552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.829427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111647; longitude = -129.956278; duration = 404; initialDepth = 1794.375462; finalDepth = 1800.829427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2671250000001 # Actual altitude: 54.2671250000001 # Commanded vehicle depth: 1800.829427 # Seafloor depth: -1855.096552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.837529 meters # Minimum depth: 1844.375462 meters looking forward 100.000000 meters along route # Maximum depth: 1850.308052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.375462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112439; longitude = -129.955636; duration = 407; initialDepth = 1790.109042; finalDepth = 1794.375462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9002760000001 # Actual altitude: 55.9002760000001 # Commanded vehicle depth: 1794.375462 # Seafloor depth: -1850.275738 # 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 30 # Segment length 102.606822 meters # Minimum depth: 1840.109042 meters looking forward 100.000000 meters along route # Maximum depth: 1844.986833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.109042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113237; longitude = -129.954988; duration = 410; initialDepth = 1790.408007; finalDepth = 1790.109042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9002760000001 # Actual altitude: 55.9002760000001 # Commanded vehicle depth: 1790.109042 # Seafloor depth: -1844.986833 # 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 30 # Segment length 101.067176 meters # Minimum depth: 1840.408007 meters looking forward 100.000000 meters along route # Maximum depth: 1842.820847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.408007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114041; longitude = -129.954336; duration = 404; initialDepth = 1789.824413; finalDepth = 1790.408007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8777909999999 # Actual altitude: 54.8777909999999 # Commanded vehicle depth: 1790.408007 # Seafloor depth: -1841.698612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.836470 meters # Minimum depth: 1839.824413 meters looking forward 100.000000 meters along route # Maximum depth: 1842.906340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.824413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114834; longitude = -129.953694; duration = 407; initialDepth = 1790.421453; finalDepth = 1789.824413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.866632 # Actual altitude: 51.866632 # Commanded vehicle depth: 1789.824413 # Seafloor depth: -1841.691045 # 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 30 # Segment length 102.567119 meters # Minimum depth: 1840.421453 meters looking forward 100.000000 meters along route # Maximum depth: 1842.335795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.421453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115632; longitude = -129.953047; duration = 410; initialDepth = 1791.069603; finalDepth = 1790.421453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.866632 # Actual altitude: 51.866632 # Commanded vehicle depth: 1790.421453 # Seafloor depth: -1840.421453 # 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 30 # Segment length 101.104759 meters # Minimum depth: 1841.069603 meters looking forward 100.000000 meters along route # Maximum depth: 1844.026767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.069603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116436; longitude = -129.952395; duration = 404; initialDepth = 1793.000723; finalDepth = 1791.069603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.069603 # Seafloor depth: -1841.069603 # 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 30 # Segment length 101.835410 meters # Minimum depth: 1843.000723 meters looking forward 100.000000 meters along route # Maximum depth: 1845.070860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.000723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117229; longitude = -129.951752; duration = 407; initialDepth = 1791.497292; finalDepth = 1793.000723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3638549999998 # Actual altitude: 50.3638549999998 # Commanded vehicle depth: 1793.000723 # Seafloor depth: -1843.364578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.527417 meters # Minimum depth: 1841.497292 meters looking forward 100.000000 meters along route # Maximum depth: 1844.963591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.497292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118027; longitude = -129.951105; duration = 410; initialDepth = 1790.826075; finalDepth = 1791.497292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2685529999999 # Actual altitude: 52.2685529999999 # Commanded vehicle depth: 1791.497292 # Seafloor depth: -1843.765845 # 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 30 # Segment length 101.142342 meters # Minimum depth: 1840.826075 meters looking forward 100.000000 meters along route # Maximum depth: 1842.786062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.826075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118831; longitude = -129.950453; duration = 404; initialDepth = 1791.367255; finalDepth = 1790.826075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2685529999999 # Actual altitude: 52.2685529999999 # Commanded vehicle depth: 1790.826075 # Seafloor depth: -1841.630985 # 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 30 # Segment length 101.834350 meters # Minimum depth: 1841.367255 meters looking forward 100.000000 meters along route # Maximum depth: 1843.093733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.367255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119624; longitude = -129.949811; duration = 407; initialDepth = 1789.906234; finalDepth = 1791.367255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8049100000001 # Actual altitude: 50.8049100000001 # Commanded vehicle depth: 1791.367255 # Seafloor depth: -1841.723701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.487716 meters # Minimum depth: 1839.906234 meters looking forward 100.000000 meters along route # Maximum depth: 1842.410940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.906234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120422; longitude = -129.949163; duration = 409; initialDepth = 1790.887962; finalDepth = 1789.906234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8525809999999 # Actual altitude: 51.8525809999999 # Commanded vehicle depth: 1789.906234 # Seafloor depth: -1841.758815 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.179923 meters # Minimum depth: 1840.887962 meters looking forward 100.000000 meters along route # Maximum depth: 1848.431587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.887962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121226; longitude = -129.948512; duration = 404; initialDepth = 1798.493110; finalDepth = 1790.887962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8525809999999 # Actual altitude: 51.8525809999999 # Commanded vehicle depth: 1790.887962 # Seafloor depth: -1842.031242 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.213148 meters # Minimum depth: 1848.493110 meters looking forward 100.000000 meters along route # Maximum depth: 1857.747922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.493110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122019; longitude = -129.947869; duration = 420; initialDepth = 1808.183498; finalDepth = 1798.493110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.14328 # Actual altitude: 51.14328 # Commanded vehicle depth: 1798.49311 # Seafloor depth: -1848.493110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.836810 meters # Minimum depth: 1858.183498 meters looking forward 100.000000 meters along route # Maximum depth: 1861.766776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.183498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122844; longitude = -129.947200; duration = 407; initialDepth = 1810.305821; finalDepth = 1808.183498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1808.183498 # Seafloor depth: -1858.183498 # 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 29 # Segment length 148.310865 meters # Minimum depth: 1860.305821 meters looking forward 100.000000 meters along route # Maximum depth: 1867.958436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.305821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123642; longitude = -129.946553; duration = 593; # abortOnTimeout = True; initialDepth = 1809.252640; finalDepth = 1810.305821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.444759 # Actual altitude: 50.444759 # Commanded vehicle depth: 1810.305821 # Seafloor depth: -1860.750580 # 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; } # ####################################################### # # 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 28 # Segment length 108.306646 meters # Minimum depth: 1859.252640 meters looking forward 100.000000 meters along route # Maximum depth: 1869.606303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.252640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124311; longitude = -129.948214; duration = 433; # abortOnTimeout = True; initialDepth = 1798.137647; finalDepth = 1809.252640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1843720000002 # Actual altitude: 59.1843720000002 # Commanded vehicle depth: 1809.25264 # Seafloor depth: -1868.437012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 101.519344 meters # Minimum depth: 1848.137647 meters looking forward 100.000000 meters along route # Maximum depth: 1859.255324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.137647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123463; longitude = -129.948904; duration = 406; initialDepth = 1792.932579; finalDepth = 1798.137647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0895740000001 # Actual altitude: 61.0895740000001 # Commanded vehicle depth: 1798.137647 # Seafloor depth: -1859.227221 # 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 28 # Segment length 101.519696 meters # Minimum depth: 1842.932579 meters looking forward 100.000000 meters along route # Maximum depth: 1847.415504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.932579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122668; longitude = -129.949552; duration = 406; initialDepth = 1790.933667; finalDepth = 1792.932579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0895740000001 # Actual altitude: 61.0895740000001 # Commanded vehicle depth: 1792.932579 # Seafloor depth: -1847.415504 # 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 28 # Segment length 101.520049 meters # Minimum depth: 1840.933667 meters looking forward 100.000000 meters along route # Maximum depth: 1843.470029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.933667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121873; longitude = -129.950199; duration = 406; initialDepth = 1790.976753; finalDepth = 1790.933667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.482925 # Actual altitude: 54.482925 # Commanded vehicle depth: 1790.933667 # Seafloor depth: -1842.929368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.520402 meters # Minimum depth: 1840.976753 meters looking forward 100.000000 meters along route # Maximum depth: 1843.413094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.976753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121077; longitude = -129.950846; duration = 406; initialDepth = 1792.442142; finalDepth = 1790.976753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9957010000001 # Actual altitude: 51.9957010000001 # Commanded vehicle depth: 1790.976753 # Seafloor depth: -1841.432895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.692195 meters # Minimum depth: 1842.442142 meters looking forward 100.000000 meters along route # Maximum depth: 1844.936928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.442142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120282; longitude = -129.951493; duration = 410; initialDepth = 1793.825648; finalDepth = 1792.442142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.561686 # Actual altitude: 50.561686 # Commanded vehicle depth: 1792.442142 # Seafloor depth: -1843.003828 # 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 28 # Segment length 100.349669 meters # Minimum depth: 1843.825648 meters looking forward 100.000000 meters along route # Maximum depth: 1848.484726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.825648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119478; longitude = -129.952148; duration = 401; initialDepth = 1794.713532; finalDepth = 1793.825648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.561686 # Actual altitude: 50.561686 # Commanded vehicle depth: 1793.825648 # Seafloor depth: -1843.825648 # 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 28 # Segment length 101.521461 meters # Minimum depth: 1844.713532 meters looking forward 100.000000 meters along route # Maximum depth: 1849.154356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.713532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118692; longitude = -129.952788; duration = 406; initialDepth = 1793.495953; finalDepth = 1794.713532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.319608 # Actual altitude: 53.319608 # Commanded vehicle depth: 1794.713532 # Seafloor depth: -1848.033140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.521814 meters # Minimum depth: 1843.495953 meters looking forward 100.000000 meters along route # Maximum depth: 1846.424937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.495953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117897; longitude = -129.953435; duration = 406; initialDepth = 1793.399044; finalDepth = 1793.495953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.319608 # Actual altitude: 53.319608 # Commanded vehicle depth: 1793.495953 # Seafloor depth: -1845.120005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.543383 meters # Minimum depth: 1843.399044 meters looking forward 100.000000 meters along route # Maximum depth: 1849.494330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.399044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117102; longitude = -129.954082; duration = 406; initialDepth = 1799.503046; finalDepth = 1793.399044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6240519999999 # Actual altitude: 51.6240519999999 # Commanded vehicle depth: 1793.399044 # Seafloor depth: -1843.931952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.501305 meters # Minimum depth: 1849.503046 meters looking forward 100.000000 meters along route # Maximum depth: 1855.745749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.503046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116307; longitude = -129.954730; duration = 406; initialDepth = 1794.538263; finalDepth = 1799.503046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5329079999999 # Actual altitude: 50.5329079999999 # Commanded vehicle depth: 1799.503046 # Seafloor depth: -1849.503046 # 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 28 # Segment length 101.522873 meters # Minimum depth: 1844.538263 meters looking forward 100.000000 meters along route # Maximum depth: 1849.401786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.538263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115512; longitude = -129.955377; duration = 406; initialDepth = 1793.614749; finalDepth = 1794.538263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.863523 # Actual altitude: 54.863523 # Commanded vehicle depth: 1794.538263 # Seafloor depth: -1849.401786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.747791 meters # Minimum depth: 1843.614749 meters looking forward 100.000000 meters along route # Maximum depth: 1847.629156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.614749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114717; longitude = -129.956024; duration = 410; initialDepth = 1797.868687; finalDepth = 1793.614749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.863523 # Actual altitude: 54.863523 # Commanded vehicle depth: 1793.614749 # Seafloor depth: -1844.974458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.299015 meters # Minimum depth: 1847.868687 meters looking forward 100.000000 meters along route # Maximum depth: 1855.177344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.868687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113912; longitude = -129.956679; duration = 401; initialDepth = 1798.686520; finalDepth = 1797.868687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3597089999998 # Actual altitude: 51.3597089999998 # Commanded vehicle depth: 1797.868687 # Seafloor depth: -1847.868687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.523933 meters # Minimum depth: 1848.686520 meters looking forward 100.000000 meters along route # Maximum depth: 1851.687210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.686520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113127; longitude = -129.957318; duration = 406; initialDepth = 1796.667407; finalDepth = 1798.686520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0006900000001 # Actual altitude: 53.0006900000001 # Commanded vehicle depth: 1798.68652 # Seafloor depth: -1851.687210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.524285 meters # Minimum depth: 1846.667407 meters looking forward 100.000000 meters along route # Maximum depth: 1850.482687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.667407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112331; longitude = -129.957966; duration = 406; initialDepth = 1796.985471; finalDepth = 1796.667407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2648700000002 # Actual altitude: 53.2648700000002 # Commanded vehicle depth: 1796.667407 # Seafloor depth: -1849.932277 # 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 28 # Segment length 101.598952 meters # Minimum depth: 1846.985471 meters looking forward 100.000000 meters along route # Maximum depth: 1849.346106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.985471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111536; longitude = -129.958613; duration = 406; initialDepth = 1797.942846; finalDepth = 1796.985471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2648700000002 # Actual altitude: 53.2648700000002 # Commanded vehicle depth: 1796.985471 # Seafloor depth: -1846.985471 # 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 28 # Segment length 101.450678 meters # Minimum depth: 1847.942846 meters looking forward 100.000000 meters along route # Maximum depth: 1849.570819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.942846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110741; longitude = -129.959260; duration = 405; initialDepth = 1797.478063; finalDepth = 1797.942846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.348653 # Actual altitude: 51.348653 # Commanded vehicle depth: 1797.942846 # Seafloor depth: -1849.291499 # 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 28 # Segment length 101.525345 meters # Minimum depth: 1847.478063 meters looking forward 100.000000 meters along route # Maximum depth: 1849.526948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.478063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109946; longitude = -129.959907; duration = 406; initialDepth = 1793.710928; finalDepth = 1797.478063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6608919999999 # Actual altitude: 51.6608919999999 # Commanded vehicle depth: 1797.478063 # Seafloor depth: -1849.138955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.803390 meters # Minimum depth: 1843.710928 meters looking forward 100.000000 meters along route # Maximum depth: 1847.454347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.710928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109151; longitude = -129.960554; duration = 411; initialDepth = 1792.829705; finalDepth = 1793.710928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7221180000001 # Actual altitude: 53.7221180000001 # Commanded vehicle depth: 1793.710928 # Seafloor depth: -1847.433046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.248358 meters # Minimum depth: 1842.829705 meters looking forward 100.000000 meters along route # Maximum depth: 1846.708603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.829705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108346; longitude = -129.961210; duration = 400; initialDepth = 1793.888864; finalDepth = 1792.829705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7221180000001 # Actual altitude: 53.7221180000001 # Commanded vehicle depth: 1792.829705 # Seafloor depth: -1843.761712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.526404 meters # Minimum depth: 1843.888864 meters looking forward 100.000000 meters along route # Maximum depth: 1846.648887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.888864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107561; longitude = -129.961849; duration = 406; initialDepth = 1794.340879; finalDepth = 1793.888864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.760023 # Actual altitude: 52.760023 # Commanded vehicle depth: 1793.888864 # Seafloor depth: -1846.648887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.526757 meters # Minimum depth: 1844.340879 meters looking forward 100.000000 meters along route # Maximum depth: 1849.046515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.340879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106766; longitude = -129.962496; duration = 406; initialDepth = 1801.518076; finalDepth = 1794.340879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.760023 # Actual altitude: 52.760023 # Commanded vehicle depth: 1794.340879 # Seafloor depth: -1844.928829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.654525 meters # Minimum depth: 1851.518076 meters looking forward 100.000000 meters along route # Maximum depth: 1859.842951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.518076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105971; longitude = -129.963143; duration = 406; initialDepth = 1775.056193; finalDepth = 1801.518076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5879499999999 # Actual altitude: 50.5879499999999 # Commanded vehicle depth: 1801.518076 # Seafloor depth: -1851.518076 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.400049 meters # Minimum depth: 1825.056193 meters looking forward 100.000000 meters along route # Maximum depth: 1859.400979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.056193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105175; longitude = -129.963791; duration = 405; initialDepth = 1769.922586; finalDepth = 1775.056193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.3447860000001 # Actual altitude: 84.3447860000001 # Commanded vehicle depth: 1775.056193 # Seafloor depth: -1859.400979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.527816 meters # Minimum depth: 1819.922586 meters looking forward 100.000000 meters along route # Maximum depth: 1824.820133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.922586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104380; longitude = -129.964438; duration = 406; initialDepth = 1767.938233; finalDepth = 1769.922586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.3447860000001 # Actual altitude: 84.3447860000001 # Commanded vehicle depth: 1769.922586 # Seafloor depth: -1824.820133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.858992 meters # Minimum depth: 1817.938233 meters looking forward 100.000000 meters along route # Maximum depth: 1820.847196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.938233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103585; longitude = -129.965085; duration = 411; initialDepth = 1768.838773; finalDepth = 1767.938233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.897547 # Actual altitude: 54.897547 # Commanded vehicle depth: 1767.938233 # Seafloor depth: -1820.183521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.197700 meters # Minimum depth: 1818.838773 meters looking forward 100.000000 meters along route # Maximum depth: 1822.798546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.838773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102780; longitude = -129.965741; duration = 400; initialDepth = 1767.059158; finalDepth = 1768.838773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2647010000001 # Actual altitude: 52.2647010000001 # Commanded vehicle depth: 1768.838773 # Seafloor depth: -1821.103474 # 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 28 # Segment length 101.528876 meters # Minimum depth: 1817.059158 meters looking forward 100.000000 meters along route # Maximum depth: 1819.198234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.059158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101995; longitude = -129.966379; duration = 406; initialDepth = 1767.658002; finalDepth = 1767.059158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2647010000001 # Actual altitude: 52.2647010000001 # Commanded vehicle depth: 1767.059158 # Seafloor depth: -1818.752891 # 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 28 # Segment length 101.529229 meters # Minimum depth: 1817.658002 meters looking forward 100.000000 meters along route # Maximum depth: 1819.444735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.658002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101200; longitude = -129.967027; duration = 406; initialDepth = 1767.522823; finalDepth = 1767.658002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6937330000001 # Actual altitude: 51.6937330000001 # Commanded vehicle depth: 1767.658002 # Seafloor depth: -1817.658002 # 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 28 # Segment length 101.710099 meters # Minimum depth: 1817.522823 meters looking forward 100.000000 meters along route # Maximum depth: 1819.190021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.522823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100405; longitude = -129.967674; duration = 406; initialDepth = 1768.171694; finalDepth = 1767.522823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.786979 # Actual altitude: 50.786979 # Commanded vehicle depth: 1767.522823 # Seafloor depth: -1818.309802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.349418 meters # Minimum depth: 1818.171694 meters looking forward 100.000000 meters along route # Maximum depth: 1821.203062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.171694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099608; longitude = -129.968322; duration = 405; initialDepth = 1768.375587; finalDepth = 1768.171694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8579340000001 # Actual altitude: 50.8579340000001 # Commanded vehicle depth: 1768.171694 # Seafloor depth: -1819.029628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.530288 meters # Minimum depth: 1818.375587 meters looking forward 100.000000 meters along route # Maximum depth: 1821.307707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.375587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098815; longitude = -129.968968; duration = 406; initialDepth = 1770.427959; finalDepth = 1768.375587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8579340000001 # Actual altitude: 50.8579340000001 # Commanded vehicle depth: 1768.375587 # Seafloor depth: -1818.375587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.914597 meters # Minimum depth: 1820.427959 meters looking forward 100.000000 meters along route # Maximum depth: 1822.787764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.427959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098020; longitude = -129.969615; duration = 411; initialDepth = 1745.281537; finalDepth = 1770.427959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.427959 # Seafloor depth: -1820.427959 # 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 28 # Segment length 100.147039 meters # Minimum depth: 1795.281537 meters looking forward 100.000000 meters along route # Maximum depth: 1820.657382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.281537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097214; longitude = -129.970272; duration = 400; initialDepth = 1742.963450; finalDepth = 1745.281537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.375845 # Actual altitude: 75.375845 # Commanded vehicle depth: 1745.281537 # Seafloor depth: -1820.657382 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.531348 meters # Minimum depth: 1792.963450 meters looking forward 100.000000 meters along route # Maximum depth: 1795.569811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.963450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096430; longitude = -129.970910; duration = 406; initialDepth = 1745.063998; finalDepth = 1742.963450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.375845 # Actual altitude: 75.375845 # Commanded vehicle depth: 1742.96345 # Seafloor depth: -1795.282419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.531701 meters # Minimum depth: 1795.063998 meters looking forward 100.000000 meters along route # Maximum depth: 1799.637802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.063998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095634; longitude = -129.971557; duration = 406; initialDepth = 1736.556490; finalDepth = 1745.063998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3189689999999 # Actual altitude: 52.3189689999999 # Commanded vehicle depth: 1745.063998 # Seafloor depth: -1795.063998 # 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 28 # Segment length 101.765677 meters # Minimum depth: 1786.556490 meters looking forward 100.000000 meters along route # Maximum depth: 1799.860232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.556490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094839; longitude = -129.972204; duration = 407; initialDepth = 1732.848143; finalDepth = 1736.556490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0486100000001 # Actual altitude: 61.0486100000001 # Commanded vehicle depth: 1736.55649 # Seafloor depth: -1797.605100 # 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 28 # Segment length 101.298784 meters # Minimum depth: 1782.848143 meters looking forward 100.000000 meters along route # Maximum depth: 1789.510225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.848143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094042; longitude = -129.972853; duration = 405; initialDepth = 1728.344383; finalDepth = 1732.848143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0486100000001 # Actual altitude: 61.0486100000001 # Commanded vehicle depth: 1732.848143 # Seafloor depth: -1786.538136 # 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 28 # Segment length 101.532760 meters # Minimum depth: 1778.344383 meters looking forward 100.000000 meters along route # Maximum depth: 1783.458954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.344383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093249; longitude = -129.973499; duration = 406; initialDepth = 1729.744701; finalDepth = 1728.344383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4356489999998 # Actual altitude: 54.4356489999998 # Commanded vehicle depth: 1728.344383 # Seafloor depth: -1782.780032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.970206 meters # Minimum depth: 1779.744701 meters looking forward 100.000000 meters along route # Maximum depth: 1783.876615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.744701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092454; longitude = -129.974146; duration = 411; initialDepth = 1727.690500; finalDepth = 1729.744701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4356489999998 # Actual altitude: 54.4356489999998 # Commanded vehicle depth: 1729.744701 # Seafloor depth: -1781.099952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.096375 meters # Minimum depth: 1777.690500 meters looking forward 100.000000 meters along route # Maximum depth: 1783.176140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.690500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091648; longitude = -129.974802; duration = 400; initialDepth = 1727.114559; finalDepth = 1727.690500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4519700000001 # Actual altitude: 54.4519700000001 # Commanded vehicle depth: 1727.6905 # Seafloor depth: -1782.142470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.533820 meters # Minimum depth: 1777.114559 meters looking forward 100.000000 meters along route # Maximum depth: 1780.763167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.114559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090864; longitude = -129.975440; duration = 406; initialDepth = 1709.162423; finalDepth = 1727.114559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4519700000001 # Actual altitude: 54.4519700000001 # Commanded vehicle depth: 1727.114559 # Seafloor depth: -1777.822045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.534174 meters # Minimum depth: 1759.162423 meters looking forward 100.000000 meters along route # Maximum depth: 1779.522673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.162423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090069; longitude = -129.976088; duration = 406; initialDepth = 1696.306596; finalDepth = 1709.162423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.5973759999999 # Actual altitude: 68.5973759999999 # Commanded vehicle depth: 1709.162423 # Seafloor depth: -1777.759799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.821258 meters # Minimum depth: 1746.306596 meters looking forward 100.000000 meters along route # Maximum depth: 1755.591168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.306596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089274; longitude = -129.976735; duration = 407; initialDepth = 1692.442086; finalDepth = 1696.306596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.5973759999999 # Actual altitude: 68.5973759999999 # Commanded vehicle depth: 1696.306596 # Seafloor depth: -1755.591168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 107.446110 meters # Minimum depth: 1742.442086 meters looking forward 100.000000 meters along route # Maximum depth: 1747.974406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.442086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088476; longitude = -129.977384; duration = 429; initialDepth = 1688.497279; finalDepth = 1692.442086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.284572 # Actual altitude: 59.284572 # Commanded vehicle depth: 1692.442086 # Seafloor depth: -1746.877137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.155786 meters # Minimum depth: 1738.497279 meters looking forward 100.000000 meters along route # Maximum depth: 1748.927225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.497279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087635; longitude = -129.978069; duration = 408; initialDepth = 1686.150653; finalDepth = 1688.497279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.3987340000001 # Actual altitude: 59.3987340000001 # Commanded vehicle depth: 1688.497279 # Seafloor depth: -1747.896013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.64; 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 27 # Segment length 144.062294 meters # Minimum depth: 1736.150653 meters looking forward 100.000000 meters along route # Maximum depth: 1747.757697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.150653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086835; longitude = -129.978720; duration = 576; # abortOnTimeout = True; initialDepth = 1686.421997; finalDepth = 1686.150653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.3987340000001 # Actual altitude: 59.3987340000001 # Commanded vehicle depth: 1686.150653 # Seafloor depth: -1739.078125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.64; 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 26 # Segment length 124.539131 meters # Minimum depth: 1736.421997 meters looking forward 100.000000 meters along route # Maximum depth: 1758.179621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.421997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087436; longitude = -129.980371; duration = 498; # abortOnTimeout = True; initialDepth = 1707.294560; finalDepth = 1686.421997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9274720000001 # Actual altitude: 52.9274720000001 # Commanded vehicle depth: 1686.421997 # Seafloor depth: -1736.421997 # 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 26 # Segment length 100.947485 meters # Minimum depth: 1757.294560 meters looking forward 100.000000 meters along route # Maximum depth: 1769.395786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.294560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088412; longitude = -129.979578; duration = 403; initialDepth = 1719.985632; finalDepth = 1707.294560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3728099999998 # Actual altitude: 50.3728099999998 # Commanded vehicle depth: 1707.29456 # Seafloor depth: -1757.667370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.658333 meters # Minimum depth: 1769.985632 meters looking forward 100.000000 meters along route # Maximum depth: 1780.593600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.985632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089202; longitude = -129.978935; duration = 406; initialDepth = 1726.844024; finalDepth = 1719.985632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3728099999998 # Actual altitude: 50.3728099999998 # Commanded vehicle depth: 1719.985632 # Seafloor depth: -1769.985632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.080750 meters # Minimum depth: 1776.844024 meters looking forward 100.000000 meters along route # Maximum depth: 1779.946366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.844024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089999; longitude = -129.978288; duration = 412; initialDepth = 1727.428384; finalDepth = 1726.844024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1023419999999 # Actual altitude: 53.1023419999999 # Commanded vehicle depth: 1726.844024 # Seafloor depth: -1779.946366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.234855 meters # Minimum depth: 1777.428384 meters looking forward 100.000000 meters along route # Maximum depth: 1779.659865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.428384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090806; longitude = -129.977632; duration = 400; initialDepth = 1729.201316; finalDepth = 1727.428384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1023419999999 # Actual altitude: 53.1023419999999 # Commanded vehicle depth: 1727.428384 # Seafloor depth: -1778.624071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.657273 meters # Minimum depth: 1779.201316 meters looking forward 100.000000 meters along route # Maximum depth: 1781.887385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.201316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091592; longitude = -129.976994; duration = 406; initialDepth = 1731.851036; finalDepth = 1729.201316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1956869999999 # Actual altitude: 51.1956869999999 # Commanded vehicle depth: 1729.201316 # Seafloor depth: -1779.309100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.656919 meters # Minimum depth: 1781.851036 meters looking forward 100.000000 meters along route # Maximum depth: 1785.382991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.851036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092388; longitude = -129.976347; duration = 406; initialDepth = 1727.637214; finalDepth = 1731.851036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.183949 # Actual altitude: 51.183949 # Commanded vehicle depth: 1731.851036 # Seafloor depth: -1783.034985 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.656566 meters # Minimum depth: 1777.637214 meters looking forward 100.000000 meters along route # Maximum depth: 1782.695217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.637214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093184; longitude = -129.975699; duration = 406; initialDepth = 1729.395464; finalDepth = 1727.637214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.550356 # Actual altitude: 54.550356 # Commanded vehicle depth: 1727.637214 # Seafloor depth: -1782.187570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.656212 meters # Minimum depth: 1779.395464 meters looking forward 100.000000 meters along route # Maximum depth: 1781.484527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.395464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093981; longitude = -129.975052; duration = 406; initialDepth = 1729.975951; finalDepth = 1729.395464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.550356 # Actual altitude: 54.550356 # Commanded vehicle depth: 1729.395464 # Seafloor depth: -1779.599403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.655860 meters # Minimum depth: 1779.975951 meters looking forward 100.000000 meters along route # Maximum depth: 1783.828317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.975951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094777; longitude = -129.974405; duration = 406; initialDepth = 1728.203194; finalDepth = 1729.975951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.38779 # Actual altitude: 51.38779 # Commanded vehicle depth: 1729.975951 # Seafloor depth: -1781.363741 # 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 26 # Segment length 101.984698 meters # Minimum depth: 1778.203194 meters looking forward 100.000000 meters along route # Maximum depth: 1783.080700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.203194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095573; longitude = -129.973758; duration = 407; initialDepth = 1729.914680; finalDepth = 1728.203194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.877506 # Actual altitude: 54.877506 # Commanded vehicle depth: 1728.203194 # Seafloor depth: -1783.080700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.325960 meters # Minimum depth: 1779.914680 meters looking forward 100.000000 meters along route # Maximum depth: 1782.965952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.914680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096372; longitude = -129.973108; duration = 405; initialDepth = 1728.626825; finalDepth = 1729.914680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.877506 # Actual altitude: 54.877506 # Commanded vehicle depth: 1729.91468 # Seafloor depth: -1780.202048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.654800 meters # Minimum depth: 1778.626825 meters looking forward 100.000000 meters along route # Maximum depth: 1792.919356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.626825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097166; longitude = -129.972463; duration = 406; initialDepth = 1744.842902; finalDepth = 1728.626825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.734316 # Actual altitude: 50.734316 # Commanded vehicle depth: 1728.626825 # Seafloor depth: -1779.361141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.695187 meters # Minimum depth: 1794.842902 meters looking forward 100.000000 meters along route # Maximum depth: 1808.548120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.842902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097963; longitude = -129.971816; duration = 410; initialDepth = 1757.503190; finalDepth = 1744.842902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.734316 # Actual altitude: 50.734316 # Commanded vehicle depth: 1744.842902 # Seafloor depth: -1794.842902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.613351 meters # Minimum depth: 1807.503190 meters looking forward 100.000000 meters along route # Maximum depth: 1822.297230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.503190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098767; longitude = -129.971162; duration = 402; initialDepth = 1767.403988; finalDepth = 1757.503190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5704840000001 # Actual altitude: 50.5704840000001 # Commanded vehicle depth: 1757.50319 # Seafloor depth: -1808.073674 # 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 26 # Segment length 101.653740 meters # Minimum depth: 1817.403988 meters looking forward 100.000000 meters along route # Maximum depth: 1820.665132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.403988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099555; longitude = -129.970522; duration = 406; initialDepth = 1768.245072; finalDepth = 1767.403988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8355629999999 # Actual altitude: 52.8355629999999 # Commanded vehicle depth: 1767.403988 # Seafloor depth: -1820.239551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.653386 meters # Minimum depth: 1818.245072 meters looking forward 100.000000 meters along route # Maximum depth: 1820.840346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.245072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100352; longitude = -129.969874; duration = 406; initialDepth = 1769.081690; finalDepth = 1768.245072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8355629999999 # Actual altitude: 52.8355629999999 # Commanded vehicle depth: 1768.245072 # Seafloor depth: -1819.790937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.653033 meters # Minimum depth: 1819.081690 meters looking forward 100.000000 meters along route # Maximum depth: 1822.963741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.081690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101148; longitude = -129.969227; duration = 406; initialDepth = 1771.286829; finalDepth = 1769.081690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.545865 # Actual altitude: 51.545865 # Commanded vehicle depth: 1769.08169 # Seafloor depth: -1820.015286 # 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 26 # Segment length 101.652680 meters # Minimum depth: 1821.286829 meters looking forward 100.000000 meters along route # Maximum depth: 1830.280483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.286829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101944; longitude = -129.968580; duration = 406; initialDepth = 1779.981471; finalDepth = 1771.286829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.674252 # Actual altitude: 51.674252 # Commanded vehicle depth: 1771.286829 # Seafloor depth: -1822.961081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.652326 meters # Minimum depth: 1829.981471 meters looking forward 100.000000 meters along route # Maximum depth: 1832.944048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.981471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102741; longitude = -129.967933; duration = 406; initialDepth = 1771.235017; finalDepth = 1779.981471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.674252 # Actual altitude: 51.674252 # Commanded vehicle depth: 1779.981471 # Seafloor depth: -1829.981471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.651974 meters # Minimum depth: 1821.235017 meters looking forward 100.000000 meters along route # Maximum depth: 1830.499909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.235017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103537; longitude = -129.967285; duration = 406; initialDepth = 1773.086034; finalDepth = 1771.235017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.07287 # Actual altitude: 59.07287 # Commanded vehicle depth: 1771.235017 # Seafloor depth: -1830.307887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.651620 meters # Minimum depth: 1823.086034 meters looking forward 100.000000 meters along route # Maximum depth: 1828.219298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.086034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104334; longitude = -129.966638; duration = 406; initialDepth = 1774.142308; finalDepth = 1773.086034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.07287 # Actual altitude: 59.07287 # Commanded vehicle depth: 1773.086034 # Seafloor depth: -1823.126895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.651266 meters # Minimum depth: 1824.142308 meters looking forward 100.000000 meters along route # Maximum depth: 1828.367665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.142308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105130; longitude = -129.965991; duration = 406; initialDepth = 1771.658058; finalDepth = 1774.142308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.225357 # Actual altitude: 54.225357 # Commanded vehicle depth: 1774.142308 # Seafloor depth: -1828.367665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.309652 meters # Minimum depth: 1821.658058 meters looking forward 100.000000 meters along route # Maximum depth: 1841.040490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.658058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105926; longitude = -129.965344; duration = 409; initialDepth = 1770.874615; finalDepth = 1771.658058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.225357 # Actual altitude: 54.225357 # Commanded vehicle depth: 1771.658058 # Seafloor depth: -1822.884850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.991822 meters # Minimum depth: 1820.874615 meters looking forward 100.000000 meters along route # Maximum depth: 1841.060478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.874615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106728; longitude = -129.964692; duration = 403; initialDepth = 1769.205443; finalDepth = 1770.874615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1858630000002 # Actual altitude: 70.1858630000002 # Commanded vehicle depth: 1770.874615 # Seafloor depth: -1841.060478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.650207 meters # Minimum depth: 1819.205443 meters looking forward 100.000000 meters along route # Maximum depth: 1837.570668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.205443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107519; longitude = -129.964049; duration = 406; initialDepth = 1789.986445; finalDepth = 1769.205443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1858630000002 # Actual altitude: 70.1858630000002 # Commanded vehicle depth: 1769.205443 # Seafloor depth: -1821.791884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.020106 meters # Minimum depth: 1839.986445 meters looking forward 100.000000 meters along route # Maximum depth: 1847.770032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.986445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108315; longitude = -129.963402; duration = 412; initialDepth = 1797.026647; finalDepth = 1789.986445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5864409999999 # Actual altitude: 52.5864409999999 # Commanded vehicle depth: 1789.986445 # Seafloor depth: -1839.986445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.279248 meters # Minimum depth: 1847.026647 meters looking forward 100.000000 meters along route # Maximum depth: 1851.419119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.026647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109123; longitude = -129.962746; duration = 401; initialDepth = 1799.098495; finalDepth = 1797.026647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1797.026647 # Seafloor depth: -1847.026647 # 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 26 # Segment length 101.649148 meters # Minimum depth: 1849.098495 meters looking forward 100.000000 meters along route # Maximum depth: 1851.361074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.098495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109908; longitude = -129.962108; duration = 406; initialDepth = 1794.541433; finalDepth = 1799.098495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.647827 # Actual altitude: 51.647827 # Commanded vehicle depth: 1799.098495 # Seafloor depth: -1850.746322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.648794 meters # Minimum depth: 1844.541433 meters looking forward 100.000000 meters along route # Maximum depth: 1849.205435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.541433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110705; longitude = -129.961461; duration = 406; initialDepth = 1791.897551; finalDepth = 1794.541433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.664002 # Actual altitude: 54.664002 # Commanded vehicle depth: 1794.541433 # Seafloor depth: -1849.205435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.648441 meters # Minimum depth: 1841.897551 meters looking forward 100.000000 meters along route # Maximum depth: 1848.448729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.897551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111501; longitude = -129.960813; duration = 406; initialDepth = 1776.599636; finalDepth = 1791.897551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7917729999999 # Actual altitude: 54.7917729999999 # Commanded vehicle depth: 1791.897551 # Seafloor depth: -1846.689324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.648088 meters # Minimum depth: 1826.599636 meters looking forward 100.000000 meters along route # Maximum depth: 1842.598713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.599636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112297; longitude = -129.960166; duration = 406; initialDepth = 1773.733302; finalDepth = 1776.599636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9990770000002 # Actual altitude: 65.9990770000002 # Commanded vehicle depth: 1776.599636 # Seafloor depth: -1842.598713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.647735 meters # Minimum depth: 1823.733302 meters looking forward 100.000000 meters along route # Maximum depth: 1834.023024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.733302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113094; longitude = -129.959519; duration = 406; initialDepth = 1782.713168; finalDepth = 1773.733302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9990770000002 # Actual altitude: 65.9990770000002 # Commanded vehicle depth: 1773.733302 # Seafloor depth: -1826.399646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.924143 meters # Minimum depth: 1832.713168 meters looking forward 100.000000 meters along route # Maximum depth: 1842.777899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.713168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113890; longitude = -129.958872; duration = 407; initialDepth = 1791.822274; finalDepth = 1782.713168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.666344 # Actual altitude: 52.666344 # Commanded vehicle depth: 1782.713168 # Seafloor depth: -1832.713168 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.370266 meters # Minimum depth: 1841.822274 meters looking forward 100.000000 meters along route # Maximum depth: 1845.241747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.822274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114689; longitude = -129.958223; duration = 405; initialDepth = 1792.229026; finalDepth = 1791.822274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.822274 # Seafloor depth: -1841.822274 # 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 26 # Segment length 101.646676 meters # Minimum depth: 1842.229026 meters looking forward 100.000000 meters along route # Maximum depth: 1843.771762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.229026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115483; longitude = -129.957577; duration = 406; initialDepth = 1790.739341; finalDepth = 1792.229026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6879730000001 # Actual altitude: 50.6879730000001 # Commanded vehicle depth: 1792.229026 # Seafloor depth: -1842.916999 # 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 26 # Segment length 102.634577 meters # Minimum depth: 1840.739341 meters looking forward 100.000000 meters along route # Maximum depth: 1844.067431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.739341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116279; longitude = -129.956930; duration = 410; initialDepth = 1792.415037; finalDepth = 1790.739341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7026620000001 # Actual altitude: 50.7026620000001 # Commanded vehicle depth: 1790.739341 # Seafloor depth: -1841.442003 # 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 26 # Segment length 100.657714 meters # Minimum depth: 1842.415037 meters looking forward 100.000000 meters along route # Maximum depth: 1845.152035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.415037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117083; longitude = -129.956276; duration = 402; initialDepth = 1794.097008; finalDepth = 1792.415037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6622890000001 # Actual altitude: 51.6622890000001 # Commanded vehicle depth: 1792.415037 # Seafloor depth: -1844.077326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.645615 meters # Minimum depth: 1844.097008 meters looking forward 100.000000 meters along route # Maximum depth: 1850.682346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.097008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117872; longitude = -129.955636; duration = 406; initialDepth = 1801.591843; finalDepth = 1794.097008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6622890000001 # Actual altitude: 51.6622890000001 # Commanded vehicle depth: 1794.097008 # Seafloor depth: -1844.097008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.645263 meters # Minimum depth: 1851.591843 meters looking forward 100.000000 meters along route # Maximum depth: 1860.042029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.591843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118668; longitude = -129.954988; duration = 406; initialDepth = 1806.299151; finalDepth = 1801.591843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7686740000001 # Actual altitude: 50.7686740000001 # Commanded vehicle depth: 1801.591843 # Seafloor depth: -1852.360517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.644909 meters # Minimum depth: 1856.299151 meters looking forward 100.000000 meters along route # Maximum depth: 1861.888978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.299151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119465; longitude = -129.954341; duration = 406; initialDepth = 1798.837984; finalDepth = 1806.299151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1928700000001 # Actual altitude: 53.1928700000001 # Commanded vehicle depth: 1806.299151 # Seafloor depth: -1859.492021 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.644557 meters # Minimum depth: 1848.837984 meters looking forward 100.000000 meters along route # Maximum depth: 1856.225080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.837984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120261; longitude = -129.953694; duration = 406; initialDepth = 1797.006508; finalDepth = 1798.837984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3870959999999 # Actual altitude: 57.3870959999999 # Commanded vehicle depth: 1798.837984 # Seafloor depth: -1856.225080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.644203 meters # Minimum depth: 1847.006508 meters looking forward 100.000000 meters along route # Maximum depth: 1852.723410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.006508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121058; longitude = -129.953047; duration = 406; initialDepth = 1790.484288; finalDepth = 1797.006508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3870959999999 # Actual altitude: 57.3870959999999 # Commanded vehicle depth: 1797.006508 # Seafloor depth: -1848.799627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.643850 meters # Minimum depth: 1840.484288 meters looking forward 100.000000 meters along route # Maximum depth: 1852.411213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.484288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121854; longitude = -129.952399; duration = 406; initialDepth = 1784.075316; finalDepth = 1790.484288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.926925 # Actual altitude: 61.926925 # Commanded vehicle depth: 1790.484288 # Seafloor depth: -1852.411213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.643497 meters # Minimum depth: 1834.075316 meters looking forward 100.000000 meters along route # Maximum depth: 1843.178523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.075316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122650; longitude = -129.951752; duration = 406; initialDepth = 1783.863598; finalDepth = 1784.075316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.926925 # Actual altitude: 61.926925 # Commanded vehicle depth: 1784.075316 # Seafloor depth: -1840.482964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.765789 meters # Minimum depth: 1833.863598 meters looking forward 100.000000 meters along route # Maximum depth: 1858.535067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.863598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123447; longitude = -129.951105; duration = 419; initialDepth = 1811.794535; finalDepth = 1783.863598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4076480000001 # Actual altitude: 56.4076480000001 # Commanded vehicle depth: 1783.863598 # Seafloor depth: -1834.226402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 101.911976 meters # Minimum depth: 1861.794535 meters looking forward 100.000000 meters along route # Maximum depth: 1891.304300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.794535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124268; longitude = -129.950438; duration = 407; initialDepth = 1815.198331; finalDepth = 1811.794535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.3628040000001 # Actual altitude: 50.3628040000001 # Commanded vehicle depth: 1811.794535 # Seafloor depth: -1861.794535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; 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 25 # Segment length 156.023825 meters # Minimum depth: 1865.198331 meters looking forward 100.000000 meters along route # Maximum depth: 1891.865936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.198331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125066; longitude = -129.949789; duration = 624; # abortOnTimeout = True; initialDepth = 1800.819625; finalDepth = 1815.198331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.6676049999999 # Actual altitude: 76.6676049999999 # Commanded vehicle depth: 1815.198331 # Seafloor depth: -1891.865936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.00; 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 24 # Segment length 126.547676 meters # Minimum depth: 1850.819625 meters looking forward 100.000000 meters along route # Maximum depth: 1867.099274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.819625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125842; longitude = -129.951472; duration = 506; # abortOnTimeout = True; initialDepth = 1795.655083; finalDepth = 1800.819625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6676049999999 # Actual altitude: 76.6676049999999 # Commanded vehicle depth: 1800.819625 # Seafloor depth: -1867.099274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.765488 meters # Minimum depth: 1845.655083 meters looking forward 100.000000 meters along route # Maximum depth: 1868.686116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.655083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124850; longitude = -129.952277; duration = 403; initialDepth = 1796.115741; finalDepth = 1795.655083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2796489999998 # Actual altitude: 66.2796489999998 # Commanded vehicle depth: 1795.655083 # Seafloor depth: -1851.081166 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.797263 meters # Minimum depth: 1846.115741 meters looking forward 100.000000 meters along route # Maximum depth: 1849.502926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.115741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124060; longitude = -129.952917; duration = 407; initialDepth = 1796.927331; finalDepth = 1796.115741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4260829999998 # Actual altitude: 55.4260829999998 # Commanded vehicle depth: 1796.115741 # Seafloor depth: -1846.115741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.931063 meters # Minimum depth: 1846.927331 meters looking forward 100.000000 meters along route # Maximum depth: 1849.488720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.927331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123262; longitude = -129.953564; duration = 411; initialDepth = 1796.899924; finalDepth = 1796.927331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5684019999999 # Actual altitude: 51.5684019999999 # Commanded vehicle depth: 1796.927331 # Seafloor depth: -1848.495733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.664523 meters # Minimum depth: 1846.899924 meters looking forward 100.000000 meters along route # Maximum depth: 1852.227094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.899924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122455; longitude = -129.954219; duration = 402; initialDepth = 1800.072576; finalDepth = 1796.899924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940325 # Actual altitude: 51.940325 # Commanded vehicle depth: 1796.899924 # Seafloor depth: -1848.840249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.798324 meters # Minimum depth: 1850.072576 meters looking forward 100.000000 meters along route # Maximum depth: 1859.915175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.072576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121666; longitude = -129.954859; duration = 407; initialDepth = 1798.151432; finalDepth = 1800.072576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940325 # Actual altitude: 51.940325 # Commanded vehicle depth: 1800.072576 # Seafloor depth: -1850.448129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.034149 meters # Minimum depth: 1848.151432 meters looking forward 100.000000 meters along route # Maximum depth: 1861.110171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.151432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120868; longitude = -129.955506; duration = 412; initialDepth = 1796.238891; finalDepth = 1798.151432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.9587389999999 # Actual altitude: 62.9587389999999 # Commanded vehicle depth: 1798.151432 # Seafloor depth: -1861.110171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.563557 meters # Minimum depth: 1846.238891 meters looking forward 100.000000 meters along route # Maximum depth: 1849.012265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.238891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120061; longitude = -129.956161; duration = 402; initialDepth = 1796.023288; finalDepth = 1796.238891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.9587389999999 # Actual altitude: 62.9587389999999 # Commanded vehicle depth: 1796.238891 # Seafloor depth: -1849.012265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.799383 meters # Minimum depth: 1846.023288 meters looking forward 100.000000 meters along route # Maximum depth: 1848.155884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.023288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119272; longitude = -129.956801; duration = 407; initialDepth = 1794.926635; finalDepth = 1796.023288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7733740000001 # Actual altitude: 52.7733740000001 # Commanded vehicle depth: 1796.023288 # Seafloor depth: -1846.923732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.137238 meters # Minimum depth: 1844.926635 meters looking forward 100.000000 meters along route # Maximum depth: 1848.832769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.926635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118474; longitude = -129.957448; duration = 412; initialDepth = 1793.109158; finalDepth = 1794.926635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.447218 # Actual altitude: 52.447218 # Commanded vehicle depth: 1794.926635 # Seafloor depth: -1847.373853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.462588 meters # Minimum depth: 1843.109158 meters looking forward 100.000000 meters along route # Maximum depth: 1845.515722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.109158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117666; longitude = -129.958103; duration = 401; initialDepth = 1787.758415; finalDepth = 1793.109158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.447218 # Actual altitude: 52.447218 # Commanded vehicle depth: 1793.109158 # Seafloor depth: -1845.515722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.800443 meters # Minimum depth: 1837.758415 meters looking forward 100.000000 meters along route # Maximum depth: 1845.439164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.758415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116878; longitude = -129.958742; duration = 407; initialDepth = 1729.099879; finalDepth = 1787.758415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.377422 # Actual altitude: 57.377422 # Commanded vehicle depth: 1787.758415 # Seafloor depth: -1845.135837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.240328 meters # Minimum depth: 1779.099879 meters looking forward 100.000000 meters along route # Maximum depth: 1835.854825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.099879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116080; longitude = -129.959389; duration = 412; initialDepth = 1715.413817; finalDepth = 1729.099879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.754946 # Actual altitude: 100 # Commanded vehicle depth: 1729.099879 # Seafloor depth: -1835.854825 # 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 24 # Segment length 100.361617 meters # Minimum depth: 1765.413817 meters looking forward 100.000000 meters along route # Maximum depth: 1778.652063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.413817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115271; longitude = -129.960046; duration = 401; initialDepth = 1709.422657; finalDepth = 1715.413817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.754946 # Actual altitude: 100 # Commanded vehicle depth: 1715.413817 # Seafloor depth: -1778.652063 # 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 24 # Segment length 101.801503 meters # Minimum depth: 1759.422657 meters looking forward 100.000000 meters along route # Maximum depth: 1765.400145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.422657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114484; longitude = -129.960684; duration = 407; initialDepth = 1710.515030; finalDepth = 1709.422657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2382459999999 # Actual altitude: 63.2382459999999 # Commanded vehicle depth: 1709.422657 # Seafloor depth: -1765.400145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.343422 meters # Minimum depth: 1760.515030 meters looking forward 100.000000 meters along route # Maximum depth: 1767.661162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.515030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113687; longitude = -129.961331; duration = 413; initialDepth = 1717.706140; finalDepth = 1710.515030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.977488 # Actual altitude: 55.977488 # Commanded vehicle depth: 1710.51503 # Seafloor depth: -1763.740068 # 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 24 # Segment length 100.260644 meters # Minimum depth: 1767.706140 meters looking forward 100.000000 meters along route # Maximum depth: 1794.497372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.706140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112876; longitude = -129.961988; duration = 401; initialDepth = 1744.558406; finalDepth = 1717.706140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.225038 # Actual altitude: 53.225038 # Commanded vehicle depth: 1717.70614 # Seafloor depth: -1767.706140 # 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 24 # Segment length 101.802563 meters # Minimum depth: 1794.558406 meters looking forward 100.000000 meters along route # Maximum depth: 1852.112389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.558406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112091; longitude = -129.962626; duration = 407; initialDepth = 1781.611508; finalDepth = 1744.558406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.558406 # Seafloor depth: -1794.558406 # 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 24 # Segment length 103.446517 meters # Minimum depth: 1850.136115 meters looking forward 100.000000 meters along route # Maximum depth: 1852.837900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.611508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111293; longitude = -129.963273; duration = 413; initialDepth = 1777.475628; finalDepth = 1781.611508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.008622982469 # Actual altitude: 70.008622982469 # Commanded vehicle depth: 1781.61150801753 # Seafloor depth: -1851.620131 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.159669 meters # Minimum depth: 1827.475628 meters looking forward 100.000000 meters along route # Maximum depth: 1851.291178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.475628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110482; longitude = -129.963930; duration = 400; initialDepth = 1760.829115; finalDepth = 1777.475628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.81555 # Actual altitude: 73.81555 # Commanded vehicle depth: 1777.475628 # Seafloor depth: -1851.291178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.803623 meters # Minimum depth: 1810.829115 meters looking forward 100.000000 meters along route # Maximum depth: 1826.610441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.829115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109697; longitude = -129.964567; duration = 407; initialDepth = 1720.324036; finalDepth = 1760.829115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.81555 # Actual altitude: 73.81555 # Commanded vehicle depth: 1760.829115 # Seafloor depth: -1826.610441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.549614 meters # Minimum depth: 1770.324036 meters looking forward 100.000000 meters along route # Maximum depth: 1809.196911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.324036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108899; longitude = -129.965214; duration = 414; initialDepth = 1740.230892; finalDepth = 1720.324036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.872875 # Actual altitude: 88.872875 # Commanded vehicle depth: 1720.324036 # Seafloor depth: -1809.196911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.058692 meters # Minimum depth: 1790.230892 meters looking forward 100.000000 meters along route # Maximum depth: 1807.910480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.230892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108087; longitude = -129.965873; duration = 400; initialDepth = 1735.474550; finalDepth = 1740.230892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.872875 # Actual altitude: 88.872875 # Commanded vehicle depth: 1740.230892 # Seafloor depth: -1790.230892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.804683 meters # Minimum depth: 1785.474550 meters looking forward 100.000000 meters along route # Maximum depth: 1795.215227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.474550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107303; longitude = -129.966509; duration = 407; initialDepth = 1733.885232; finalDepth = 1735.474550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.740677 # Actual altitude: 59.740677 # Commanded vehicle depth: 1735.47455 # Seafloor depth: -1795.215227 # 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 24 # Segment length 101.805037 meters # Minimum depth: 1783.885232 meters looking forward 100.000000 meters along route # Maximum depth: 1811.648909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.885232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106505; longitude = -129.967156; duration = 407; initialDepth = 1765.346247; finalDepth = 1733.885232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.740677 # Actual altitude: 59.740677 # Commanded vehicle depth: 1733.885232 # Seafloor depth: -1788.820147 # 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 24 # Segment length 101.805390 meters # Minimum depth: 1815.346247 meters looking forward 100.000000 meters along route # Maximum depth: 1823.577994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.346247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105707; longitude = -129.967803; duration = 407; initialDepth = 1768.301819; finalDepth = 1765.346247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9349149999998 # Actual altitude: 54.9349149999998 # Commanded vehicle depth: 1765.346247 # Seafloor depth: -1815.346247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.805743 meters # Minimum depth: 1818.301819 meters looking forward 100.000000 meters along route # Maximum depth: 1821.555076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.301819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104909; longitude = -129.968450; duration = 407; initialDepth = 1770.164640; finalDepth = 1768.301819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7947919999999 # Actual altitude: 51.7947919999999 # Commanded vehicle depth: 1768.301819 # Seafloor depth: -1820.096611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.806097 meters # Minimum depth: 1820.164640 meters looking forward 100.000000 meters along route # Maximum depth: 1825.325187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.164640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104111; longitude = -129.969098; duration = 407; initialDepth = 1775.264273; finalDepth = 1770.164640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.898267 # Actual altitude: 51.898267 # Commanded vehicle depth: 1770.16464 # Seafloor depth: -1822.062907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.806450 meters # Minimum depth: 1825.264273 meters looking forward 100.000000 meters along route # Maximum depth: 1830.737001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.264273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103313; longitude = -129.969745; duration = 407; initialDepth = 1779.306537; finalDepth = 1775.264273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.898267 # Actual altitude: 51.898267 # Commanded vehicle depth: 1775.264273 # Seafloor depth: -1826.093015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.806803 meters # Minimum depth: 1829.306537 meters looking forward 100.000000 meters along route # Maximum depth: 1830.698648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.306537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102515; longitude = -129.970392; duration = 407; initialDepth = 1768.346717; finalDepth = 1779.306537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3921110000001 # Actual altitude: 51.3921110000001 # Commanded vehicle depth: 1779.306537 # Seafloor depth: -1830.698648 # 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 24 # Segment length 101.807157 meters # Minimum depth: 1818.346717 meters looking forward 100.000000 meters along route # Maximum depth: 1829.608400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.346717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101717; longitude = -129.971039; duration = 407; initialDepth = 1745.972182; finalDepth = 1768.346717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2616830000002 # Actual altitude: 61.2616830000002 # Commanded vehicle depth: 1768.346717 # Seafloor depth: -1829.608400 # 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 24 # Segment length 101.807511 meters # Minimum depth: 1795.972182 meters looking forward 100.000000 meters along route # Maximum depth: 1815.713090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.972182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100919; longitude = -129.971687; duration = 407; initialDepth = 1739.411710; finalDepth = 1745.972182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.740908 # Actual altitude: 69.740908 # Commanded vehicle depth: 1745.972182 # Seafloor depth: -1815.713090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.807864 meters # Minimum depth: 1789.411710 meters looking forward 100.000000 meters along route # Maximum depth: 1797.098651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.411710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100121; longitude = -129.972334; duration = 407; initialDepth = 1731.730201; finalDepth = 1739.411710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.740908 # Actual altitude: 69.740908 # Commanded vehicle depth: 1739.41171 # Seafloor depth: -1796.467166 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.808217 meters # Minimum depth: 1781.730201 meters looking forward 100.000000 meters along route # Maximum depth: 1789.395037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.730201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099323; longitude = -129.972981; duration = 407; initialDepth = 1727.917284; finalDepth = 1731.730201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6648359999999 # Actual altitude: 57.6648359999999 # Commanded vehicle depth: 1731.730201 # Seafloor depth: -1789.395037 # 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 24 # Segment length 101.808571 meters # Minimum depth: 1777.917284 meters looking forward 100.000000 meters along route # Maximum depth: 1782.266184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.917284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098525; longitude = -129.973628; duration = 407; initialDepth = 1727.440711; finalDepth = 1727.917284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6648359999999 # Actual altitude: 57.6648359999999 # Commanded vehicle depth: 1727.917284 # Seafloor depth: -1782.266184 # 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 24 # Segment length 101.808924 meters # Minimum depth: 1777.440711 meters looking forward 100.000000 meters along route # Maximum depth: 1779.903070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.440711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097727; longitude = -129.974275; duration = 407; initialDepth = 1727.137337; finalDepth = 1727.440711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3489 # Actual altitude: 54.3489 # Commanded vehicle depth: 1727.440711 # Seafloor depth: -1778.898565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.809277 meters # Minimum depth: 1777.137337 meters looking forward 100.000000 meters along route # Maximum depth: 1779.414763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.137337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096929; longitude = -129.974923; duration = 407; initialDepth = 1728.170823; finalDepth = 1727.137337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.457854 # Actual altitude: 51.457854 # Commanded vehicle depth: 1727.137337 # Seafloor depth: -1778.122493 # 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 24 # Segment length 101.809632 meters # Minimum depth: 1778.170823 meters looking forward 100.000000 meters along route # Maximum depth: 1780.365514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.170823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096131; longitude = -129.975570; duration = 407; initialDepth = 1727.706204; finalDepth = 1728.170823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9851560000002 # Actual altitude: 50.9851560000002 # Commanded vehicle depth: 1728.170823 # Seafloor depth: -1778.170823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.809984 meters # Minimum depth: 1777.706204 meters looking forward 100.000000 meters along route # Maximum depth: 1779.334790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.706204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095333; longitude = -129.976217; duration = 407; initialDepth = 1726.841162; finalDepth = 1727.706204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.073277 # Actual altitude: 51.073277 # Commanded vehicle depth: 1727.706204 # Seafloor depth: -1778.779481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.810338 meters # Minimum depth: 1776.841162 meters looking forward 100.000000 meters along route # Maximum depth: 1784.412777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.841162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094535; longitude = -129.976864; duration = 407; initialDepth = 1730.409034; finalDepth = 1726.841162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3814870000001 # Actual altitude: 52.3814870000001 # Commanded vehicle depth: 1726.841162 # Seafloor depth: -1779.222649 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.810692 meters # Minimum depth: 1780.409034 meters looking forward 100.000000 meters along route # Maximum depth: 1785.305973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.409034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093737; longitude = -129.977512; duration = 407; initialDepth = 1728.469721; finalDepth = 1730.409034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5982079999999 # Actual altitude: 54.5982079999999 # Commanded vehicle depth: 1730.409034 # Seafloor depth: -1785.007242 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.811045 meters # Minimum depth: 1778.469721 meters looking forward 100.000000 meters along route # Maximum depth: 1781.355737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.469721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092939; longitude = -129.978159; duration = 407; initialDepth = 1726.566072; finalDepth = 1728.469721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5982079999999 # Actual altitude: 54.5982079999999 # Commanded vehicle depth: 1728.469721 # Seafloor depth: -1780.770345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.811398 meters # Minimum depth: 1776.566072 meters looking forward 100.000000 meters along route # Maximum depth: 1781.095466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.566072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092141; longitude = -129.978806; duration = 407; initialDepth = 1721.146281; finalDepth = 1726.566072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.773087 # Actual altitude: 52.773087 # Commanded vehicle depth: 1726.566072 # Seafloor depth: -1779.339159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.811752 meters # Minimum depth: 1771.146281 meters looking forward 100.000000 meters along route # Maximum depth: 1777.226499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.146281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091343; longitude = -129.979453; duration = 407; initialDepth = 1701.384205; finalDepth = 1721.146281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.698928 # Actual altitude: 55.698928 # Commanded vehicle depth: 1721.146281 # Seafloor depth: -1776.845209 # 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 24 # Segment length 101.812106 meters # Minimum depth: 1751.384205 meters looking forward 100.000000 meters along route # Maximum depth: 1771.088607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.384205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090545; longitude = -129.980100; duration = 407; initialDepth = 1689.883074; finalDepth = 1701.384205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7044019999998 # Actual altitude: 69.7044019999998 # Commanded vehicle depth: 1701.384205 # Seafloor depth: -1771.088607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.374471 meters # Minimum depth: 1739.883074 meters looking forward 100.000000 meters along route # Maximum depth: 1751.082005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.883074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089747; longitude = -129.980748; duration = 417; initialDepth = 1681.890205; finalDepth = 1689.883074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7044019999998 # Actual altitude: 69.7044019999998 # Commanded vehicle depth: 1689.883074 # Seafloor depth: -1751.082005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.014858 meters # Minimum depth: 1731.890205 meters looking forward 100.000000 meters along route # Maximum depth: 1739.928292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.890205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088929; longitude = -129.981411; duration = 412; initialDepth = 1676.021754; finalDepth = 1681.890205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.1989309999999 # Actual altitude: 61.1989309999999 # Commanded vehicle depth: 1681.890205 # Seafloor depth: -1739.928292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 155.641156 meters # Minimum depth: 1726.021754 meters looking forward 100.000000 meters along route # Maximum depth: 1731.506897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.021754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088122; longitude = -129.982066; duration = 622; # abortOnTimeout = True; initialDepth = 1678.813485; finalDepth = 1676.021754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.0380870000001 # Actual altitude: 58.0380870000001 # Commanded vehicle depth: 1676.021754 # Seafloor depth: -1731.506897 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 154.545350 meters # Minimum depth: 1728.813485 meters looking forward 100.000000 meters along route # Maximum depth: 1732.277855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.813485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088830; longitude = -129.983803; duration = 618; # abortOnTimeout = True; initialDepth = 1679.569304; finalDepth = 1678.813485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4851429999999 # Actual altitude: 55.4851429999999 # Commanded vehicle depth: 1678.813485 # Seafloor depth: -1729.742767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.623105 meters # Minimum depth: 1729.569304 meters looking forward 100.000000 meters along route # Maximum depth: 1753.297197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.569304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090041; longitude = -129.982819; duration = 406; initialDepth = 1699.591849; finalDepth = 1679.569304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9292820000001 # Actual altitude: 50.9292820000001 # Commanded vehicle depth: 1679.569304 # Seafloor depth: -1729.569304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.622752 meters # Minimum depth: 1749.591849 meters looking forward 100.000000 meters along route # Maximum depth: 1758.915774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.591849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090837; longitude = -129.982172; duration = 406; initialDepth = 1706.099162; finalDepth = 1699.591849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2100540000001 # Actual altitude: 52.2100540000001 # Commanded vehicle depth: 1699.591849 # Seafloor depth: -1751.801903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.622398 meters # Minimum depth: 1756.099162 meters looking forward 100.000000 meters along route # Maximum depth: 1763.570528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.099162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091633; longitude = -129.981524; duration = 406; initialDepth = 1713.293470; finalDepth = 1706.099162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0853770000001 # Actual altitude: 54.0853770000001 # Commanded vehicle depth: 1706.099162 # Seafloor depth: -1760.184539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.622045 meters # Minimum depth: 1763.293470 meters looking forward 100.000000 meters along route # Maximum depth: 1782.905496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.293470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092429; longitude = -129.980877; duration = 406; initialDepth = 1727.753733; finalDepth = 1713.293470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0853770000001 # Actual altitude: 54.0853770000001 # Commanded vehicle depth: 1713.29347 # Seafloor depth: -1763.293470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.621692 meters # Minimum depth: 1777.753733 meters looking forward 100.000000 meters along route # Maximum depth: 1782.210133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.753733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093225; longitude = -129.980230; duration = 406; initialDepth = 1704.017937; finalDepth = 1727.753733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.513277 # Actual altitude: 50.513277 # Commanded vehicle depth: 1727.753733 # Seafloor depth: -1778.267010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.930802 meters # Minimum depth: 1754.017937 meters looking forward 100.000000 meters along route # Maximum depth: 1779.596258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.017937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094021; longitude = -129.979583; duration = 407; initialDepth = 1699.131585; finalDepth = 1704.017937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.338113 # Actual altitude: 74.338113 # Commanded vehicle depth: 1704.017937 # Seafloor depth: -1778.356050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.311521 meters # Minimum depth: 1749.131585 meters looking forward 100.000000 meters along route # Maximum depth: 1753.942310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.131585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094819; longitude = -129.978933; duration = 405; initialDepth = 1697.929393; finalDepth = 1699.131585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.338113 # Actual altitude: 74.338113 # Commanded vehicle depth: 1699.131585 # Seafloor depth: -1753.942310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.620632 meters # Minimum depth: 1747.929393 meters looking forward 100.000000 meters along route # Maximum depth: 1752.003636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.929393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095613; longitude = -129.978288; duration = 406; initialDepth = 1702.567584; finalDepth = 1697.929393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8107249999998 # Actual altitude: 54.8107249999998 # Commanded vehicle depth: 1697.929393 # Seafloor depth: -1749.952851 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.779660 meters # Minimum depth: 1752.567584 meters looking forward 100.000000 meters along route # Maximum depth: 1768.316078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.567584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096409; longitude = -129.977641; duration = 411; initialDepth = 1718.872947; finalDepth = 1702.567584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0234580000001 # Actual altitude: 52.0234580000001 # Commanded vehicle depth: 1702.567584 # Seafloor depth: -1752.567584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.460543 meters # Minimum depth: 1768.872947 meters looking forward 100.000000 meters along route # Maximum depth: 1779.328596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.872947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097214; longitude = -129.976986; duration = 401; initialDepth = 1728.686413; finalDepth = 1718.872947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.872947 # Seafloor depth: -1768.872947 # 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 101.619572 meters # Minimum depth: 1778.686413 meters looking forward 100.000000 meters along route # Maximum depth: 1781.525668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.686413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098001; longitude = -129.976347; duration = 406; initialDepth = 1730.029372; finalDepth = 1728.686413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1728.686413 # Seafloor depth: -1778.686413 # 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 101.619218 meters # Minimum depth: 1780.029372 meters looking forward 100.000000 meters along route # Maximum depth: 1783.765041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.029372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098797; longitude = -129.975699; duration = 406; initialDepth = 1732.329233; finalDepth = 1730.029372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5606520000001 # Actual altitude: 50.5606520000001 # Commanded vehicle depth: 1730.029372 # Seafloor depth: -1780.590024 # 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 22 # Segment length 101.618865 meters # Minimum depth: 1782.329233 meters looking forward 100.000000 meters along route # Maximum depth: 1788.873398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.329233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099593; longitude = -129.975052; duration = 406; initialDepth = 1738.392528; finalDepth = 1732.329233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5606520000001 # Actual altitude: 50.5606520000001 # Commanded vehicle depth: 1732.329233 # Seafloor depth: -1782.454296 # 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 22 # Segment length 101.618512 meters # Minimum depth: 1788.392528 meters looking forward 100.000000 meters along route # Maximum depth: 1806.791987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.392528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100389; longitude = -129.974405; duration = 406; initialDepth = 1757.357552; finalDepth = 1738.392528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1250630000002 # Actual altitude: 50.1250630000002 # Commanded vehicle depth: 1738.392528 # Seafloor depth: -1788.392528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.618158 meters # Minimum depth: 1807.357552 meters looking forward 100.000000 meters along route # Maximum depth: 1819.642533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.357552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101185; longitude = -129.973758; duration = 406; initialDepth = 1768.624623; finalDepth = 1757.357552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1757.357552 # Seafloor depth: -1807.357552 # 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 102.006182 meters # Minimum depth: 1818.624623 meters looking forward 100.000000 meters along route # Maximum depth: 1821.106390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.624623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101981; longitude = -129.973110; duration = 408; initialDepth = 1768.254637; finalDepth = 1768.624623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1768.624623 # Seafloor depth: -1818.624623 # 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 101.229076 meters # Minimum depth: 1818.254637 meters looking forward 100.000000 meters along route # Maximum depth: 1820.973386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.254637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102780; longitude = -129.972461; duration = 404; initialDepth = 1766.966691; finalDepth = 1768.254637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.405849 # Actual altitude: 52.405849 # Commanded vehicle depth: 1768.254637 # Seafloor depth: -1820.660486 # 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 22 # Segment length 101.617098 meters # Minimum depth: 1816.966691 meters looking forward 100.000000 meters along route # Maximum depth: 1821.189144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.966691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103573; longitude = -129.971816; duration = 406; initialDepth = 1764.084322; finalDepth = 1766.966691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0547789999998 # Actual altitude: 54.0547789999998 # Commanded vehicle depth: 1766.966691 # Seafloor depth: -1821.021470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.855009 meters # Minimum depth: 1814.084322 meters looking forward 100.000000 meters along route # Maximum depth: 1821.132205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.084322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104369; longitude = -129.971169; duration = 411; initialDepth = 1770.964777; finalDepth = 1764.084322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0547789999998 # Actual altitude: 54.0547789999998 # Commanded vehicle depth: 1764.084322 # Seafloor depth: -1816.993703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.378129 meters # Minimum depth: 1820.964777 meters looking forward 100.000000 meters along route # Maximum depth: 1825.920636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.964777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105175; longitude = -129.970514; duration = 401; initialDepth = 1775.877755; finalDepth = 1770.964777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9093810000002 # Actual altitude: 52.9093810000002 # Commanded vehicle depth: 1770.964777 # Seafloor depth: -1821.142261 # 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 22 # Segment length 101.616039 meters # Minimum depth: 1825.877755 meters looking forward 100.000000 meters along route # Maximum depth: 1831.336119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.877755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105961; longitude = -129.969874; duration = 406; initialDepth = 1760.101625; finalDepth = 1775.877755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.295271 # Actual altitude: 50.295271 # Commanded vehicle depth: 1775.877755 # Seafloor depth: -1826.173026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.615686 meters # Minimum depth: 1810.101625 meters looking forward 100.000000 meters along route # Maximum depth: 1826.154344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.101625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106757; longitude = -129.969227; duration = 406; initialDepth = 1740.664429; finalDepth = 1760.101625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.951233 # Actual altitude: 65.951233 # Commanded vehicle depth: 1760.101625 # Seafloor depth: -1826.052858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.615332 meters # Minimum depth: 1790.664429 meters looking forward 100.000000 meters along route # Maximum depth: 1805.322116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.664429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107553; longitude = -129.968580; duration = 406; initialDepth = 1721.521179; finalDepth = 1740.664429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.951233 # Actual altitude: 65.951233 # Commanded vehicle depth: 1740.664429 # Seafloor depth: -1804.033706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.614979 meters # Minimum depth: 1771.521179 meters looking forward 100.000000 meters along route # Maximum depth: 1792.058128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.521179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108349; longitude = -129.967933; duration = 406; initialDepth = 1725.275842; finalDepth = 1721.521179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5369489999998 # Actual altitude: 70.5369489999998 # Commanded vehicle depth: 1721.521179 # Seafloor depth: -1792.058128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.614626 meters # Minimum depth: 1775.275842 meters looking forward 100.000000 meters along route # Maximum depth: 1784.293288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.275842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109145; longitude = -129.967285; duration = 406; initialDepth = 1735.084160; finalDepth = 1725.275842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5369489999998 # Actual altitude: 70.5369489999998 # Commanded vehicle depth: 1725.275842 # Seafloor depth: -1775.275842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.081556 meters # Minimum depth: 1785.084160 meters looking forward 100.000000 meters along route # Maximum depth: 1799.252394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.084160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109941; longitude = -129.966638; duration = 408; initialDepth = 1749.315688; finalDepth = 1735.084160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0968399999999 # Actual altitude: 50.0968399999999 # Commanded vehicle depth: 1735.08416 # Seafloor depth: -1785.181000 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.146637 meters # Minimum depth: 1799.315688 meters looking forward 100.000000 meters along route # Maximum depth: 1817.280512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.315688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110741; longitude = -129.965988; duration = 404; initialDepth = 1757.249155; finalDepth = 1749.315688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0968399999999 # Actual altitude: 50.0968399999999 # Commanded vehicle depth: 1749.315688 # Seafloor depth: -1799.315688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.613566 meters # Minimum depth: 1807.249155 meters looking forward 100.000000 meters along route # Maximum depth: 1821.133285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.249155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111533; longitude = -129.965344; duration = 406; initialDepth = 1728.344968; finalDepth = 1757.249155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0956100000001 # Actual altitude: 59.0956100000001 # Commanded vehicle depth: 1757.249155 # Seafloor depth: -1816.344765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.930353 meters # Minimum depth: 1778.344968 meters looking forward 100.000000 meters along route # Maximum depth: 1820.058792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.344968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112329; longitude = -129.964697; duration = 411; initialDepth = 1712.018253; finalDepth = 1728.344968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.7138239999999 # Actual altitude: 91.7138239999999 # Commanded vehicle depth: 1728.344968 # Seafloor depth: -1820.058792 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.295720 meters # Minimum depth: 1762.018253 meters looking forward 100.000000 meters along route # Maximum depth: 1777.995876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.018253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113135; longitude = -129.964041; duration = 401; initialDepth = 1708.773692; finalDepth = 1712.018253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.7138239999999 # Actual altitude: 91.7138239999999 # Commanded vehicle depth: 1712.018253 # Seafloor depth: -1777.995876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.612507 meters # Minimum depth: 1758.773692 meters looking forward 100.000000 meters along route # Maximum depth: 1762.912369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.773692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113921; longitude = -129.963402; duration = 406; initialDepth = 1709.079123; finalDepth = 1708.773692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.977623 # Actual altitude: 65.977623 # Commanded vehicle depth: 1708.773692 # Seafloor depth: -1761.937387 # 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 22 # Segment length 101.612154 meters # Minimum depth: 1759.079123 meters looking forward 100.000000 meters along route # Maximum depth: 1769.417443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.079123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114717; longitude = -129.962755; duration = 406; initialDepth = 1718.773308; finalDepth = 1709.079123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.163695 # Actual altitude: 53.163695 # Commanded vehicle depth: 1709.079123 # Seafloor depth: -1759.079123 # 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 22 # Segment length 101.611800 meters # Minimum depth: 1768.773308 meters looking forward 100.000000 meters along route # Maximum depth: 1795.564007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.773308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115513; longitude = -129.962108; duration = 406; initialDepth = 1745.528586; finalDepth = 1718.773308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1559869999999 # Actual altitude: 50.1559869999999 # Commanded vehicle depth: 1718.773308 # Seafloor depth: -1768.929295 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.611447 meters # Minimum depth: 1795.528586 meters looking forward 100.000000 meters along route # Maximum depth: 1853.487475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.528586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116309; longitude = -129.961461; duration = 406; initialDepth = 1782.512127; finalDepth = 1745.528586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1559869999999 # Actual altitude: 50.1559869999999 # Commanded vehicle depth: 1745.528586 # Seafloor depth: -1795.528586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.611095 meters # Minimum depth: 1855.271054 meters looking forward 100.000000 meters along route # Maximum depth: 1859.917437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.512127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117105; longitude = -129.960813; duration = 406; initialDepth = 1802.019938; finalDepth = 1782.512127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7589265164706 # Actual altitude: 72.7589265164706 # Commanded vehicle depth: 1782.51212748353 # Seafloor depth: -1855.271054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.156925 meters # Minimum depth: 1852.019938 meters looking forward 100.000000 meters along route # Maximum depth: 1860.783622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.019938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117901; longitude = -129.960166; duration = 408; initialDepth = 1801.065311; finalDepth = 1802.019938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7589265164706 # Actual altitude: 72.7589265164706 # Commanded vehicle depth: 1802.019938 # Seafloor depth: -1860.196017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.064203 meters # Minimum depth: 1851.065311 meters looking forward 100.000000 meters along route # Maximum depth: 1857.558854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.065311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118701; longitude = -129.959515; duration = 404; initialDepth = 1800.943041; finalDepth = 1801.065311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1760790000001 # Actual altitude: 58.1760790000001 # Commanded vehicle depth: 1801.065311 # Seafloor depth: -1852.530956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.610035 meters # Minimum depth: 1850.943041 meters looking forward 100.000000 meters along route # Maximum depth: 1863.045455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.943041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119493; longitude = -129.958872; duration = 406; initialDepth = 1813.471777; finalDepth = 1800.943041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.465645 # Actual altitude: 51.465645 # Commanded vehicle depth: 1800.943041 # Seafloor depth: -1851.570614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.005693 meters # Minimum depth: 1863.471777 meters looking forward 100.000000 meters along route # Maximum depth: 1874.977291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.471777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120289; longitude = -129.958224; duration = 412; initialDepth = 1814.741111; finalDepth = 1813.471777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.627573 # Actual altitude: 50.627573 # Commanded vehicle depth: 1813.471777 # Seafloor depth: -1863.471777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.213317 meters # Minimum depth: 1864.741111 meters looking forward 100.000000 meters along route # Maximum depth: 1873.625365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.741111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121096; longitude = -129.957568; duration = 400; initialDepth = 1807.018474; finalDepth = 1814.741111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1261469999999 # Actual altitude: 54.1261469999999 # Commanded vehicle depth: 1814.741111 # Seafloor depth: -1868.867258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.608975 meters # Minimum depth: 1857.018474 meters looking forward 100.000000 meters along route # Maximum depth: 1867.165754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.018474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121881; longitude = -129.956930; duration = 406; initialDepth = 1809.384203; finalDepth = 1807.018474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1472800000001 # Actual altitude: 60.1472800000001 # Commanded vehicle depth: 1807.018474 # Seafloor depth: -1867.165754 # 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 22 # Segment length 101.608622 meters # Minimum depth: 1859.384203 meters looking forward 100.000000 meters along route # Maximum depth: 1862.004854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.384203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122677; longitude = -129.956283; duration = 406; initialDepth = 1806.831443; finalDepth = 1809.384203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1472800000001 # Actual altitude: 60.1472800000001 # Commanded vehicle depth: 1809.384203 # Seafloor depth: -1859.926114 # 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 22 # Segment length 101.608269 meters # Minimum depth: 1856.831443 meters looking forward 100.000000 meters along route # Maximum depth: 1864.146976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.831443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123473; longitude = -129.955636; duration = 406; initialDepth = 1805.019602; finalDepth = 1806.831443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9203109999999 # Actual altitude: 55.9203109999999 # Commanded vehicle depth: 1806.831443 # Seafloor depth: -1862.751754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.607916 meters # Minimum depth: 1855.019602 meters looking forward 100.000000 meters along route # Maximum depth: 1863.137901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.019602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124269; longitude = -129.954988; duration = 406; initialDepth = 1813.156083; finalDepth = 1805.019602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9203109999999 # Actual altitude: 55.9203109999999 # Commanded vehicle depth: 1805.019602 # Seafloor depth: -1858.292135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.703175 meters # Minimum depth: 1863.156083 meters looking forward 100.000000 meters along route # Maximum depth: 1876.493384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.156083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125065; longitude = -129.954341; duration = 418; initialDepth = 1826.142588; finalDepth = 1813.156083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2725329999998 # Actual altitude: 53.2725329999998 # Commanded vehicle depth: 1813.156083 # Seafloor depth: -1863.156083 # 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 22 # Segment length 101.916653 meters # Minimum depth: 1876.142588 meters looking forward 100.000000 meters along route # Maximum depth: 1884.490530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.142588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125886; longitude = -129.953674; duration = 407; initialDepth = 1797.331865; finalDepth = 1826.142588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.020808 # Actual altitude: 51.020808 # Commanded vehicle depth: 1826.142588 # Seafloor depth: -1877.163396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; 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 151.994051 meters # Minimum depth: 1847.331865 meters looking forward 100.000000 meters along route # Maximum depth: 1885.081116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.331865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126684; longitude = -129.953025; duration = 607; # abortOnTimeout = True; initialDepth = 1790.729841; finalDepth = 1797.331865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 87.749251 # Actual altitude: 87.749251 # Commanded vehicle depth: 1797.331865 # Seafloor depth: -1885.081116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.65; 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 170.699429 meters # Minimum depth: 1840.729841 meters looking forward 100.000000 meters along route # Maximum depth: 1864.871041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.729841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127417; longitude = -129.954686; duration = 682; # abortOnTimeout = True; initialDepth = 1769.829069; finalDepth = 1790.729841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.749251 # Actual altitude: 87.749251 # Commanded vehicle depth: 1790.729841 # Seafloor depth: -1847.752441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.282886 meters # Minimum depth: 1819.829069 meters looking forward 100.000000 meters along route # Maximum depth: 1843.389292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.829069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126080; longitude = -129.955773; duration = 401; initialDepth = 1769.610601; finalDepth = 1769.829069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.5602230000002 # Actual altitude: 73.5602230000002 # Commanded vehicle depth: 1769.829069 # Seafloor depth: -1843.389292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.600800 meters # Minimum depth: 1819.610601 meters looking forward 100.000000 meters along route # Maximum depth: 1829.458624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.610601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125294; longitude = -129.956412; duration = 406; initialDepth = 1775.700178; finalDepth = 1769.610601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.5602230000002 # Actual altitude: 73.5602230000002 # Commanded vehicle depth: 1769.610601 # Seafloor depth: -1819.870716 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.601154 meters # Minimum depth: 1825.700178 meters looking forward 100.000000 meters along route # Maximum depth: 1849.959513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.700178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124498; longitude = -129.957059; duration = 406; initialDepth = 1803.905080; finalDepth = 1775.700178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2601149999998 # Actual altitude: 50.2601149999998 # Commanded vehicle depth: 1775.700178 # Seafloor depth: -1825.700178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.601506 meters # Minimum depth: 1853.905080 meters looking forward 100.000000 meters along route # Maximum depth: 1872.097523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.905080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123702; longitude = -129.957707; duration = 406; initialDepth = 1820.607798; finalDepth = 1803.905080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.508364 # Actual altitude: 50.508364 # Commanded vehicle depth: 1803.90508 # Seafloor depth: -1854.413444 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.601860 meters # Minimum depth: 1870.607798 meters looking forward 100.000000 meters along route # Maximum depth: 1876.073628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.607798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122906; longitude = -129.958354; duration = 406; initialDepth = 1803.250767; finalDepth = 1820.607798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5791999999999 # Actual altitude: 51.5791999999999 # Commanded vehicle depth: 1820.607798 # Seafloor depth: -1872.186998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.602213 meters # Minimum depth: 1853.250767 meters looking forward 100.000000 meters along route # Maximum depth: 1874.414588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.250767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122110; longitude = -129.959001; duration = 406; initialDepth = 1791.582231; finalDepth = 1803.250767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.464156 # Actual altitude: 70.464156 # Commanded vehicle depth: 1803.250767 # Seafloor depth: -1873.714923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.214317 meters # Minimum depth: 1841.582231 meters looking forward 100.000000 meters along route # Maximum depth: 1851.834795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.582231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121314; longitude = -129.959648; duration = 408; initialDepth = 1792.765491; finalDepth = 1791.582231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.464156 # Actual altitude: 70.464156 # Commanded vehicle depth: 1791.582231 # Seafloor depth: -1851.834795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.991168 meters # Minimum depth: 1842.765491 meters looking forward 100.000000 meters along route # Maximum depth: 1852.279664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.765491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120514; longitude = -129.960299; duration = 403; initialDepth = 1801.181405; finalDepth = 1792.765491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2525639999999 # Actual altitude: 60.2525639999999 # Commanded vehicle depth: 1792.765491 # Seafloor depth: -1844.679494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.603272 meters # Minimum depth: 1851.181405 meters looking forward 100.000000 meters along route # Maximum depth: 1860.139151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.181405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119722; longitude = -129.960943; duration = 406; initialDepth = 1809.531814; finalDepth = 1801.181405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9140029999999 # Actual altitude: 51.9140029999999 # Commanded vehicle depth: 1801.181405 # Seafloor depth: -1851.740284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.093143 meters # Minimum depth: 1859.531814 meters looking forward 100.000000 meters along route # Maximum depth: 1865.636646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.531814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118927; longitude = -129.961590; duration = 412; initialDepth = 1808.128291; finalDepth = 1809.531814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5588789999999 # Actual altitude: 50.5588789999999 # Commanded vehicle depth: 1809.531814 # Seafloor depth: -1859.531814 # 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 20 # Segment length 100.114461 meters # Minimum depth: 1858.128291 meters looking forward 100.000000 meters along route # Maximum depth: 1868.621553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.128291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118119; longitude = -129.962247; duration = 400; initialDepth = 1736.979823; finalDepth = 1808.128291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.490012 # Actual altitude: 57.490012 # Commanded vehicle depth: 1808.128291 # Seafloor depth: -1865.618303 # 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 20 # Segment length 101.604332 meters # Minimum depth: 1786.979823 meters looking forward 100.000000 meters along route # Maximum depth: 1857.425279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.979823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117335; longitude = -129.962884; duration = 406; initialDepth = 1718.702062; finalDepth = 1736.979823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.445456 # Actual altitude: 100 # Commanded vehicle depth: 1736.979823 # Seafloor depth: -1857.425279 # 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 20 # Segment length 101.604685 meters # Minimum depth: 1768.702062 meters looking forward 100.000000 meters along route # Maximum depth: 1787.953844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.702062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116539; longitude = -129.963532; duration = 406; initialDepth = 1716.664271; finalDepth = 1718.702062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.445456 # Actual altitude: 100 # Commanded vehicle depth: 1718.702062 # Seafloor depth: -1787.953844 # 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 20 # Segment length 101.605038 meters # Minimum depth: 1766.664271 meters looking forward 100.000000 meters along route # Maximum depth: 1771.270051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.664271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115743; longitude = -129.964179; duration = 406; initialDepth = 1720.271567; finalDepth = 1716.664271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.2517819999998 # Actual altitude: 69.2517819999998 # Commanded vehicle depth: 1716.664271 # Seafloor depth: -1768.490878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.605391 meters # Minimum depth: 1770.271567 meters looking forward 100.000000 meters along route # Maximum depth: 1784.989227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.271567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114947; longitude = -129.964826; duration = 406; initialDepth = 1731.889330; finalDepth = 1720.271567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.826607 # Actual altitude: 51.826607 # Commanded vehicle depth: 1720.271567 # Seafloor depth: -1771.049391 # 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 20 # Segment length 101.605745 meters # Minimum depth: 1781.889330 meters looking forward 100.000000 meters along route # Maximum depth: 1787.804036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.889330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114151; longitude = -129.965473; duration = 406; initialDepth = 1727.718663; finalDepth = 1731.889330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.742182 # Actual altitude: 53.742182 # Commanded vehicle depth: 1731.88933 # Seafloor depth: -1785.631512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.389784 meters # Minimum depth: 1777.718663 meters looking forward 100.000000 meters along route # Maximum depth: 1784.873065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.718663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113355; longitude = -129.966121; duration = 409; initialDepth = 1723.003549; finalDepth = 1727.718663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6805569999999 # Actual altitude: 54.6805569999999 # Commanded vehicle depth: 1727.718663 # Seafloor depth: -1782.399220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.822765 meters # Minimum depth: 1773.003549 meters looking forward 100.000000 meters along route # Maximum depth: 1783.771734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.003549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112553; longitude = -129.966773; duration = 403; initialDepth = 1717.546362; finalDepth = 1723.003549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7681849999999 # Actual altitude: 60.7681849999999 # Commanded vehicle depth: 1723.003549 # Seafloor depth: -1783.771734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.606804 meters # Minimum depth: 1767.546362 meters looking forward 100.000000 meters along route # Maximum depth: 1776.479618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.546362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111763; longitude = -129.967415; duration = 406; initialDepth = 1719.737347; finalDepth = 1717.546362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7681849999999 # Actual altitude: 60.7681849999999 # Commanded vehicle depth: 1717.546362 # Seafloor depth: -1775.430881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.607157 meters # Minimum depth: 1769.737347 meters looking forward 100.000000 meters along route # Maximum depth: 1778.053557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.737347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110967; longitude = -129.968062; duration = 406; initialDepth = 1722.677821; finalDepth = 1719.737347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.884519 # Actual altitude: 57.884519 # Commanded vehicle depth: 1719.737347 # Seafloor depth: -1770.324469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.607511 meters # Minimum depth: 1772.677821 meters looking forward 100.000000 meters along route # Maximum depth: 1787.857398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.677821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110171; longitude = -129.968709; duration = 406; initialDepth = 1737.952450; finalDepth = 1722.677821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0052619999999 # Actual altitude: 54.0052619999999 # Commanded vehicle depth: 1722.677821 # Seafloor depth: -1776.683083 # 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 20 # Segment length 101.607864 meters # Minimum depth: 1787.952450 meters looking forward 100.000000 meters along route # Maximum depth: 1799.344318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.952450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109375; longitude = -129.969357; duration = 406; initialDepth = 1739.140087; finalDepth = 1737.952450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0052619999999 # Actual altitude: 54.0052619999999 # Commanded vehicle depth: 1737.95245 # Seafloor depth: -1787.952450 # 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 20 # Segment length 101.608217 meters # Minimum depth: 1789.140087 meters looking forward 100.000000 meters along route # Maximum depth: 1815.764966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.140087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108579; longitude = -129.970004; duration = 406; initialDepth = 1764.308877; finalDepth = 1739.140087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.140087 # Seafloor depth: -1789.140087 # 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 20 # Segment length 101.686392 meters # Minimum depth: 1814.308877 meters looking forward 100.000000 meters along route # Maximum depth: 1821.572145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.308877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107783; longitude = -129.970651; duration = 406; initialDepth = 1755.037764; finalDepth = 1764.308877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.308877 # Seafloor depth: -1814.308877 # 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 20 # Segment length 101.531102 meters # Minimum depth: 1805.037764 meters looking forward 100.000000 meters along route # Maximum depth: 1819.989044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.037764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106987; longitude = -129.971299; duration = 406; initialDepth = 1750.629156; finalDepth = 1755.037764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.95128 # Actual altitude: 64.95128 # Commanded vehicle depth: 1755.037764 # Seafloor depth: -1819.989044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.609277 meters # Minimum depth: 1800.629156 meters looking forward 100.000000 meters along route # Maximum depth: 1805.570909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.629156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106191; longitude = -129.971945; duration = 406; initialDepth = 1745.049022; finalDepth = 1750.629156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.95128 # Actual altitude: 64.95128 # Commanded vehicle depth: 1750.629156 # Seafloor depth: -1805.570909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.565264 meters # Minimum depth: 1795.049022 meters looking forward 100.000000 meters along route # Maximum depth: 1799.020535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.049022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105396; longitude = -129.972593; duration = 410; initialDepth = 1744.069455; finalDepth = 1745.049022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9417530000001 # Actual altitude: 54.9417530000001 # Commanded vehicle depth: 1745.049022 # Seafloor depth: -1799.020535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.654349 meters # Minimum depth: 1794.069455 meters looking forward 100.000000 meters along route # Maximum depth: 1800.730359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.069455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104592; longitude = -129.973246; duration = 402; initialDepth = 1727.824274; finalDepth = 1744.069455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9715130000002 # Actual altitude: 53.9715130000002 # Commanded vehicle depth: 1744.069455 # Seafloor depth: -1795.786429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.610337 meters # Minimum depth: 1777.824274 meters looking forward 100.000000 meters along route # Maximum depth: 1802.107375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.824274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103804; longitude = -129.973887; duration = 406; initialDepth = 1726.082492; finalDepth = 1727.824274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.199431 # Actual altitude: 72.199431 # Commanded vehicle depth: 1727.824274 # Seafloor depth: -1800.023705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.610690 meters # Minimum depth: 1776.082492 meters looking forward 100.000000 meters along route # Maximum depth: 1784.960147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.082492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103008; longitude = -129.974534; duration = 406; initialDepth = 1734.307451; finalDepth = 1726.082492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.199431 # Actual altitude: 72.199431 # Commanded vehicle depth: 1726.082492 # Seafloor depth: -1777.478283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.611043 meters # Minimum depth: 1784.307451 meters looking forward 100.000000 meters along route # Maximum depth: 1790.162581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.307451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102212; longitude = -129.975182; duration = 406; initialDepth = 1731.679910; finalDepth = 1734.307451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3957909999999 # Actual altitude: 51.3957909999999 # Commanded vehicle depth: 1734.307451 # Seafloor depth: -1784.825326 # 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 20 # Segment length 101.611397 meters # Minimum depth: 1781.679910 meters looking forward 100.000000 meters along route # Maximum depth: 1785.417576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.679910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101416; longitude = -129.975829; duration = 406; initialDepth = 1727.555071; finalDepth = 1731.679910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6850729999999 # Actual altitude: 53.6850729999999 # Commanded vehicle depth: 1731.67991 # Seafloor depth: -1785.364983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.611750 meters # Minimum depth: 1777.555071 meters looking forward 100.000000 meters along route # Maximum depth: 1784.151548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.555071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100620; longitude = -129.976476; duration = 406; initialDepth = 1706.117170; finalDepth = 1727.555071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.853707 # Actual altitude: 54.853707 # Commanded vehicle depth: 1727.555071 # Seafloor depth: -1782.408778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.861852 meters # Minimum depth: 1756.117170 meters looking forward 100.000000 meters along route # Maximum depth: 1777.387118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.117170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099824; longitude = -129.977123; duration = 407; initialDepth = 1701.473471; finalDepth = 1706.117170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.2699480000001 # Actual altitude: 71.2699480000001 # Commanded vehicle depth: 1706.11717 # Seafloor depth: -1777.387118 # 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 20 # Segment length 101.362708 meters # Minimum depth: 1751.473471 meters looking forward 100.000000 meters along route # Maximum depth: 1756.047469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.473471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099026; longitude = -129.977772; duration = 405; initialDepth = 1699.504637; finalDepth = 1701.473471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.2699480000001 # Actual altitude: 71.2699480000001 # Commanded vehicle depth: 1701.473471 # Seafloor depth: -1756.047469 # 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 20 # Segment length 101.612810 meters # Minimum depth: 1749.504637 meters looking forward 100.000000 meters along route # Maximum depth: 1753.214084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.504637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098232; longitude = -129.978418; duration = 406; initialDepth = 1697.127571; finalDepth = 1699.504637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5739980000001 # Actual altitude: 54.5739980000001 # Commanded vehicle depth: 1699.504637 # Seafloor depth: -1752.491575 # 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 20 # Segment length 102.740757 meters # Minimum depth: 1747.127571 meters looking forward 100.000000 meters along route # Maximum depth: 1750.712418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.127571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097436; longitude = -129.979065; duration = 410; initialDepth = 1696.089827; finalDepth = 1697.127571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.462172 # Actual altitude: 53.462172 # Commanded vehicle depth: 1697.127571 # Seafloor depth: -1750.589743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.485922 meters # Minimum depth: 1746.089827 meters looking forward 100.000000 meters along route # Maximum depth: 1749.906478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.089827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096631; longitude = -129.979719; duration = 401; initialDepth = 1696.250800; finalDepth = 1696.089827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.462172 # Actual altitude: 53.462172 # Commanded vehicle depth: 1696.089827 # Seafloor depth: -1748.900472 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.613870 meters # Minimum depth: 1746.250800 meters looking forward 100.000000 meters along route # Maximum depth: 1756.379786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.250800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095844; longitude = -129.980359; duration = 406; initialDepth = 1707.830635; finalDepth = 1696.250800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.810645 # Actual altitude: 52.810645 # Commanded vehicle depth: 1696.2508 # Seafloor depth: -1746.250800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.614223 meters # Minimum depth: 1757.830635 meters looking forward 100.000000 meters along route # Maximum depth: 1777.170359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.830635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095048; longitude = -129.981007; duration = 406; initialDepth = 1725.812802; finalDepth = 1707.830635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1707.830635 # Seafloor depth: -1757.830635 # 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 20 # Segment length 101.614577 meters # Minimum depth: 1775.812802 meters looking forward 100.000000 meters along route # Maximum depth: 1780.570149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.812802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094252; longitude = -129.981654; duration = 406; initialDepth = 1721.971956; finalDepth = 1725.812802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0994480000002 # Actual altitude: 50.0994480000002 # Commanded vehicle depth: 1725.812802 # Seafloor depth: -1775.912250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.614930 meters # Minimum depth: 1771.971956 meters looking forward 100.000000 meters along route # Maximum depth: 1777.232420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.971956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093456; longitude = -129.982301; duration = 406; initialDepth = 1713.922394; finalDepth = 1721.971956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.260464 # Actual altitude: 55.260464 # Commanded vehicle depth: 1721.971956 # Seafloor depth: -1777.232420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.615283 meters # Minimum depth: 1763.922394 meters looking forward 100.000000 meters along route # Maximum depth: 1771.939776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.922394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092660; longitude = -129.982948; duration = 406; initialDepth = 1701.706712; finalDepth = 1713.922394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.634986 # Actual altitude: 57.634986 # Commanded vehicle depth: 1713.922394 # Seafloor depth: -1771.557380 # 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 20 # Segment length 102.037325 meters # Minimum depth: 1751.706712 meters looking forward 100.000000 meters along route # Maximum depth: 1763.487440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.706712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091864; longitude = -129.983595; duration = 408; initialDepth = 1697.192973; finalDepth = 1701.706712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7807280000002 # Actual altitude: 61.7807280000002 # Commanded vehicle depth: 1701.706712 # Seafloor depth: -1763.487440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.194302 meters # Minimum depth: 1747.192973 meters looking forward 100.000000 meters along route # Maximum depth: 1751.687735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.192973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091065; longitude = -129.984245; duration = 404; initialDepth = 1692.259952; finalDepth = 1697.192973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7807280000002 # Actual altitude: 61.7807280000002 # Commanded vehicle depth: 1697.192973 # Seafloor depth: -1751.687735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.079306 meters # Minimum depth: 1742.259952 meters looking forward 100.000000 meters along route # Maximum depth: 1748.206430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.259952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090273; longitude = -129.984890; duration = 408; initialDepth = 1686.834434; finalDepth = 1692.259952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.1462279999998 # Actual altitude: 55.1462279999998 # Commanded vehicle depth: 1692.259952 # Seafloor depth: -1747.406180 # 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; } # ####################################################### # # 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 151.858341 meters # Minimum depth: 1736.834434 meters looking forward 100.000000 meters along route # Maximum depth: 1742.435120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.834434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089473; longitude = -129.985540; duration = 607; # abortOnTimeout = True; initialDepth = 1688.553159; finalDepth = 1686.834434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.600686 # Actual altitude: 55.600686 # Commanded vehicle depth: 1686.834434 # Seafloor depth: -1742.435120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; 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 18 # Segment length 118.421825 meters # Minimum depth: 1738.553159 meters looking forward 100.000000 meters along route # Maximum depth: 1744.912680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.553159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090138; longitude = -129.987256; duration = 473; # abortOnTimeout = True; initialDepth = 1694.921570; finalDepth = 1688.553159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.600686 # Actual altitude: 55.600686 # Commanded vehicle depth: 1688.553159 # Seafloor depth: -1738.869415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.379638 meters # Minimum depth: 1744.921570 meters looking forward 100.000000 meters along route # Maximum depth: 1749.913506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.921570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091065; longitude = -129.986501; duration = 401; initialDepth = 1694.567424; finalDepth = 1694.921570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3162559999998 # Actual altitude: 50.3162559999998 # Commanded vehicle depth: 1694.92157 # Seafloor depth: -1744.921570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.488951 meters # Minimum depth: 1744.567424 meters looking forward 100.000000 meters along route # Maximum depth: 1749.092811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.567424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091851; longitude = -129.985861; duration = 405; initialDepth = 1697.966615; finalDepth = 1694.567424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5253869999999 # Actual altitude: 54.5253869999999 # Commanded vehicle depth: 1694.567424 # Seafloor depth: -1749.092811 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.488598 meters # Minimum depth: 1747.966615 meters looking forward 100.000000 meters along route # Maximum depth: 1756.659598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.966615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092646; longitude = -129.985213; duration = 405; initialDepth = 1705.701485; finalDepth = 1697.966615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5253869999999 # Actual altitude: 54.5253869999999 # Commanded vehicle depth: 1697.966615 # Seafloor depth: -1748.440492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.681156 meters # Minimum depth: 1755.701485 meters looking forward 100.000000 meters along route # Maximum depth: 1772.325047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.701485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093440; longitude = -129.984566; duration = 406; initialDepth = 1707.149127; finalDepth = 1705.701485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4738769999999 # Actual altitude: 50.4738769999999 # Commanded vehicle depth: 1705.701485 # Seafloor depth: -1755.701485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.294980 meters # Minimum depth: 1757.149127 meters looking forward 100.000000 meters along route # Maximum depth: 1772.798935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.149127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094237; longitude = -129.983918; duration = 405; initialDepth = 1698.744845; finalDepth = 1707.149127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1932570000001 # Actual altitude: 65.1932570000001 # Commanded vehicle depth: 1707.149127 # Seafloor depth: -1772.342384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.487538 meters # Minimum depth: 1748.744845 meters looking forward 100.000000 meters along route # Maximum depth: 1756.847503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.744845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095030; longitude = -129.983272; duration = 405; initialDepth = 1697.624105; finalDepth = 1698.744845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1932570000001 # Actual altitude: 65.1932570000001 # Commanded vehicle depth: 1698.744845 # Seafloor depth: -1756.847503 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.487185 meters # Minimum depth: 1747.624105 meters looking forward 100.000000 meters along route # Maximum depth: 1749.195468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.624105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095824; longitude = -129.982625; duration = 405; initialDepth = 1696.049707; finalDepth = 1697.624105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.102658 # Actual altitude: 58.102658 # Commanded vehicle depth: 1697.624105 # Seafloor depth: -1749.195468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.486832 meters # Minimum depth: 1746.049707 meters looking forward 100.000000 meters along route # Maximum depth: 1750.604302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.049707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096619; longitude = -129.981977; duration = 405; initialDepth = 1696.921818; finalDepth = 1696.049707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3736020000001 # Actual altitude: 52.3736020000001 # Commanded vehicle depth: 1696.049707 # Seafloor depth: -1748.423309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.486479 meters # Minimum depth: 1746.921818 meters looking forward 100.000000 meters along route # Maximum depth: 1748.883726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.921818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097414; longitude = -129.981330; duration = 405; initialDepth = 1696.917314; finalDepth = 1696.921818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3736020000001 # Actual altitude: 52.3736020000001 # Commanded vehicle depth: 1696.921818 # Seafloor depth: -1748.883726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.486125 meters # Minimum depth: 1746.917314 meters looking forward 100.000000 meters along route # Maximum depth: 1750.149970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.917314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098208; longitude = -129.980683; duration = 405; initialDepth = 1698.175948; finalDepth = 1696.917314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.961908 # Actual altitude: 51.961908 # Commanded vehicle depth: 1696.917314 # Seafloor depth: -1748.566868 # 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 18 # Segment length 102.140880 meters # Minimum depth: 1748.175948 meters looking forward 100.000000 meters along route # Maximum depth: 1752.312360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.175948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099003; longitude = -129.980036; duration = 408; initialDepth = 1702.184202; finalDepth = 1698.175948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6495540000001 # Actual altitude: 51.6495540000001 # Commanded vehicle depth: 1698.175948 # Seafloor depth: -1749.197708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.830311 meters # Minimum depth: 1752.184202 meters looking forward 100.000000 meters along route # Maximum depth: 1765.679965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.184202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099803; longitude = -129.979384; duration = 403; initialDepth = 1716.015560; finalDepth = 1702.184202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0217599999999 # Actual altitude: 51.0217599999999 # Commanded vehicle depth: 1702.184202 # Seafloor depth: -1752.184202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.485065 meters # Minimum depth: 1766.015560 meters looking forward 100.000000 meters along route # Maximum depth: 1788.238408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.015560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100592; longitude = -129.978741; duration = 405; initialDepth = 1737.453783; finalDepth = 1716.015560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.01556 # Seafloor depth: -1766.015560 # 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 18 # Segment length 101.484713 meters # Minimum depth: 1787.453783 meters looking forward 100.000000 meters along route # Maximum depth: 1796.824738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.453783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101387; longitude = -129.978094; duration = 405; initialDepth = 1744.209267; finalDepth = 1737.453783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.282674 # Actual altitude: 50.282674 # Commanded vehicle depth: 1737.453783 # Seafloor depth: -1787.736457 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.484359 meters # Minimum depth: 1794.209267 meters looking forward 100.000000 meters along route # Maximum depth: 1799.187723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.209267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102181; longitude = -129.977447; duration = 405; initialDepth = 1738.755998; finalDepth = 1744.209267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7906620000001 # Actual altitude: 54.7906620000001 # Commanded vehicle depth: 1744.209267 # Seafloor depth: -1798.999929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.484006 meters # Minimum depth: 1788.755998 meters looking forward 100.000000 meters along route # Maximum depth: 1796.470615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.755998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102976; longitude = -129.976800; duration = 405; initialDepth = 1740.120574; finalDepth = 1738.755998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4491969999999 # Actual altitude: 55.4491969999999 # Commanded vehicle depth: 1738.755998 # Seafloor depth: -1794.205195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.483653 meters # Minimum depth: 1790.120574 meters looking forward 100.000000 meters along route # Maximum depth: 1793.014289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.120574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103771; longitude = -129.976152; duration = 405; initialDepth = 1738.117523; finalDepth = 1740.120574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4491969999999 # Actual altitude: 55.4491969999999 # Commanded vehicle depth: 1740.120574 # Seafloor depth: -1791.127550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.600582 meters # Minimum depth: 1788.117523 meters looking forward 100.000000 meters along route # Maximum depth: 1790.804002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.117523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104565; longitude = -129.975505; duration = 410; initialDepth = 1738.666204; finalDepth = 1738.117523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4750040000001 # Actual altitude: 52.4750040000001 # Commanded vehicle depth: 1738.117523 # Seafloor depth: -1790.592527 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.365664 meters # Minimum depth: 1788.666204 meters looking forward 100.000000 meters along route # Maximum depth: 1792.074943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.666204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105369; longitude = -129.974851; duration = 401; initialDepth = 1741.854882; finalDepth = 1738.666204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4750040000001 # Actual altitude: 52.4750040000001 # Commanded vehicle depth: 1738.666204 # Seafloor depth: -1790.307525 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.482593 meters # Minimum depth: 1791.854882 meters looking forward 100.000000 meters along route # Maximum depth: 1796.851629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.854882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106155; longitude = -129.974211; duration = 405; initialDepth = 1742.344886; finalDepth = 1741.854882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6413209999998 # Actual altitude: 51.6413209999998 # Commanded vehicle depth: 1741.854882 # Seafloor depth: -1791.854882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.482240 meters # Minimum depth: 1792.344886 meters looking forward 100.000000 meters along route # Maximum depth: 1796.964285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.344886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106949; longitude = -129.973564; duration = 405; initialDepth = 1722.333068; finalDepth = 1742.344886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4976479999998 # Actual altitude: 54.4976479999998 # Commanded vehicle depth: 1742.344886 # Seafloor depth: -1796.842534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.682472 meters # Minimum depth: 1772.333068 meters looking forward 100.000000 meters along route # Maximum depth: 1792.969124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.333068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107744; longitude = -129.972916; duration = 406; initialDepth = 1721.632360; finalDepth = 1722.333068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.251757 # Actual altitude: 69.251757 # Commanded vehicle depth: 1722.333068 # Seafloor depth: -1791.584825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.280949 meters # Minimum depth: 1771.632360 meters looking forward 100.000000 meters along route # Maximum depth: 1782.848472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.632360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108540; longitude = -129.972268; duration = 405; initialDepth = 1718.650519; finalDepth = 1721.632360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.251757 # Actual altitude: 69.251757 # Commanded vehicle depth: 1721.63236 # Seafloor depth: -1772.312919 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.481181 meters # Minimum depth: 1768.650519 meters looking forward 100.000000 meters along route # Maximum depth: 1781.806719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.650519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109333; longitude = -129.971622; duration = 405; initialDepth = 1717.597504; finalDepth = 1718.650519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.538022 # Actual altitude: 62.538022 # Commanded vehicle depth: 1718.650519 # Seafloor depth: -1781.188541 # 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 18 # Segment length 101.480827 meters # Minimum depth: 1767.597504 meters looking forward 100.000000 meters along route # Maximum depth: 1774.285880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.597504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110128; longitude = -129.970975; duration = 405; initialDepth = 1717.014958; finalDepth = 1717.597504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.538022 # Actual altitude: 62.538022 # Commanded vehicle depth: 1717.597504 # Seafloor depth: -1768.614034 # 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 18 # Segment length 101.480474 meters # Minimum depth: 1767.014958 meters looking forward 100.000000 meters along route # Maximum depth: 1773.353548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.014958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110922; longitude = -129.970327; duration = 405; initialDepth = 1711.413291; finalDepth = 1717.014958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3385900000001 # Actual altitude: 56.3385900000001 # Commanded vehicle depth: 1717.014958 # Seafloor depth: -1773.353548 # 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 18 # Segment length 101.480122 meters # Minimum depth: 1761.413291 meters looking forward 100.000000 meters along route # Maximum depth: 1772.888902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.413291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111717; longitude = -129.969680; duration = 405; initialDepth = 1709.007502; finalDepth = 1711.413291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3385900000001 # Actual altitude: 56.3385900000001 # Commanded vehicle depth: 1711.413291 # Seafloor depth: -1767.246432 # 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 18 # Segment length 101.479768 meters # Minimum depth: 1759.007502 meters looking forward 100.000000 meters along route # Maximum depth: 1763.114438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.007502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112512; longitude = -129.969033; duration = 405; initialDepth = 1713.574940; finalDepth = 1709.007502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8331409999998 # Actual altitude: 55.8331409999998 # Commanded vehicle depth: 1709.007502 # Seafloor depth: -1761.395819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.142167 meters # Minimum depth: 1763.574940 meters looking forward 100.000000 meters along route # Maximum depth: 1776.462463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.574940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113306; longitude = -129.968386; duration = 408; initialDepth = 1725.718910; finalDepth = 1713.574940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3883170000001 # Actual altitude: 52.3883170000001 # Commanded vehicle depth: 1713.57494 # Seafloor depth: -1763.574940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.816310 meters # Minimum depth: 1775.718910 meters looking forward 100.000000 meters along route # Maximum depth: 1782.025085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.718910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114106; longitude = -129.967734; duration = 403; initialDepth = 1731.098861; finalDepth = 1725.718910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9040009999999 # Actual altitude: 50.9040009999999 # Commanded vehicle depth: 1725.71891 # Seafloor depth: -1776.622911 # 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 18 # Segment length 101.478709 meters # Minimum depth: 1781.098861 meters looking forward 100.000000 meters along route # Maximum depth: 1788.198080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.098861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114896; longitude = -129.967091; duration = 405; initialDepth = 1739.334119; finalDepth = 1731.098861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9040009999999 # Actual altitude: 50.9040009999999 # Commanded vehicle depth: 1731.098861 # Seafloor depth: -1781.445222 # 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 18 # Segment length 101.478355 meters # Minimum depth: 1789.334119 meters looking forward 100.000000 meters along route # Maximum depth: 1816.907460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.334119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115690; longitude = -129.966444; duration = 405; initialDepth = 1768.061178; finalDepth = 1739.334119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3463610000001 # Actual altitude: 50.3463610000001 # Commanded vehicle depth: 1739.334119 # Seafloor depth: -1789.334119 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.478003 meters # Minimum depth: 1818.061178 meters looking forward 100.000000 meters along route # Maximum depth: 1843.215925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.061178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116485; longitude = -129.965797; duration = 405; initialDepth = 1792.651057; finalDepth = 1768.061178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.530845 # Actual altitude: 53.530845 # Commanded vehicle depth: 1768.061178 # Seafloor depth: -1821.592023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.477649 meters # Minimum depth: 1842.651057 meters looking forward 100.000000 meters along route # Maximum depth: 1864.416319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.651057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117280; longitude = -129.965150; duration = 405; initialDepth = 1786.561713; finalDepth = 1792.651057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.530845 # Actual altitude: 53.530845 # Commanded vehicle depth: 1792.651057 # Seafloor depth: -1843.208054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.477297 meters # Minimum depth: 1836.561713 meters looking forward 100.000000 meters along route # Maximum depth: 1864.673093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.561713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118074; longitude = -129.964502; duration = 405; initialDepth = 1782.754105; finalDepth = 1786.561713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.803676 # Actual altitude: 76.803676 # Commanded vehicle depth: 1786.561713 # Seafloor depth: -1863.365389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.601841 meters # Minimum depth: 1832.754105 meters looking forward 100.000000 meters along route # Maximum depth: 1839.608876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.754105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118869; longitude = -129.963855; duration = 410; initialDepth = 1784.846359; finalDepth = 1782.754105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.803676 # Actual altitude: 76.803676 # Commanded vehicle depth: 1782.754105 # Seafloor depth: -1836.381937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.351692 meters # Minimum depth: 1834.846359 meters looking forward 100.000000 meters along route # Maximum depth: 1842.443397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.846359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119672; longitude = -129.963201; duration = 401; initialDepth = 1769.201194; finalDepth = 1784.846359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6278320000001 # Actual altitude: 53.6278320000001 # Commanded vehicle depth: 1784.846359 # Seafloor depth: -1835.955300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.476238 meters # Minimum depth: 1819.201194 meters looking forward 100.000000 meters along route # Maximum depth: 1834.536609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.201194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120458; longitude = -129.962561; duration = 405; initialDepth = 1764.512691; finalDepth = 1769.201194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.335415 # Actual altitude: 65.335415 # Commanded vehicle depth: 1769.201194 # Seafloor depth: -1834.536609 # 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 18 # Segment length 101.475884 meters # Minimum depth: 1814.512691 meters looking forward 100.000000 meters along route # Maximum depth: 1819.741569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.512691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121253; longitude = -129.961914; duration = 405; initialDepth = 1767.856796; finalDepth = 1764.512691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.335415 # Actual altitude: 65.335415 # Commanded vehicle depth: 1764.512691 # Seafloor depth: -1818.685243 # 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 18 # Segment length 101.683788 meters # Minimum depth: 1817.856796 meters looking forward 100.000000 meters along route # Maximum depth: 1842.477185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.856796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122047; longitude = -129.961266; duration = 406; initialDepth = 1786.621544; finalDepth = 1767.856796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.172552 # Actual altitude: 54.172552 # Commanded vehicle depth: 1767.856796 # Seafloor depth: -1819.442364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.266921 meters # Minimum depth: 1836.621544 meters looking forward 100.000000 meters along route # Maximum depth: 1844.796689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.621544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122844; longitude = -129.960618; duration = 405; initialDepth = 1765.085956; finalDepth = 1786.621544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8395519999999 # Actual altitude: 55.8395519999999 # Commanded vehicle depth: 1786.621544 # Seafloor depth: -1842.461096 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.474825 meters # Minimum depth: 1815.085956 meters looking forward 100.000000 meters along route # Maximum depth: 1836.710138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.085956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123637; longitude = -129.959972; duration = 405; initialDepth = 1760.524164; finalDepth = 1765.085956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.624182 # Actual altitude: 71.624182 # Commanded vehicle depth: 1765.085956 # Seafloor depth: -1836.710138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.474472 meters # Minimum depth: 1810.524164 meters looking forward 100.000000 meters along route # Maximum depth: 1813.876175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.524164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124431; longitude = -129.959325; duration = 405; initialDepth = 1759.158191; finalDepth = 1760.524164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.624182 # Actual altitude: 71.624182 # Commanded vehicle depth: 1760.524164 # Seafloor depth: -1813.876175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.474119 meters # Minimum depth: 1809.158191 meters looking forward 100.000000 meters along route # Maximum depth: 1815.474466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.158191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125226; longitude = -129.958677; duration = 405; initialDepth = 1756.652342; finalDepth = 1759.158191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9471820000001 # Actual altitude: 54.9471820000001 # Commanded vehicle depth: 1759.158191 # Seafloor depth: -1814.105373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.473766 meters # Minimum depth: 1806.652342 meters looking forward 100.000000 meters along route # Maximum depth: 1812.138797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.652342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126021; longitude = -129.958030; duration = 405; initialDepth = 1759.325259; finalDepth = 1756.652342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9471820000001 # Actual altitude: 54.9471820000001 # Commanded vehicle depth: 1756.652342 # Seafloor depth: -1809.550569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.439168 meters # Minimum depth: 1809.325259 meters looking forward 100.000000 meters along route # Maximum depth: 1842.832588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.325259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126815; longitude = -129.957383; duration = 417; initialDepth = 1782.066401; finalDepth = 1759.325259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8982269999999 # Actual altitude: 52.8982269999999 # Commanded vehicle depth: 1759.325259 # Seafloor depth: -1809.325259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.896309 meters # Minimum depth: 1832.066401 meters looking forward 100.000000 meters along route # Maximum depth: 1847.356424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.066401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127633; longitude = -129.956717; duration = 407; initialDepth = 1770.198868; finalDepth = 1782.066401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.3690810000001 # Actual altitude: 61.3690810000001 # Commanded vehicle depth: 1782.066401 # Seafloor depth: -1843.435482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.82; 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 148.301468 meters # Minimum depth: 1820.198868 meters looking forward 100.000000 meters along route # Maximum depth: 1840.497851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.198868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128431; longitude = -129.956067; duration = 593; # abortOnTimeout = True; initialDepth = 1769.483826; finalDepth = 1770.198868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.8818200000001 # Actual altitude: 63.8818200000001 # Commanded vehicle depth: 1770.198868 # Seafloor depth: -1834.080688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.33; 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 129.386558 meters # Minimum depth: 1819.483826 meters looking forward 100.000000 meters along route # Maximum depth: 1827.109895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.483826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129100; longitude = -129.957728; duration = 517; # abortOnTimeout = True; initialDepth = 1775.901776; finalDepth = 1769.483826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8818200000001 # Actual altitude: 63.8818200000001 # Commanded vehicle depth: 1769.483826 # Seafloor depth: -1819.483826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 101.130716 meters # Minimum depth: 1825.901776 meters looking forward 100.000000 meters along route # Maximum depth: 1830.042158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.901776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128086; longitude = -129.958552; duration = 404; initialDepth = 1755.154521; finalDepth = 1775.901776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.483387 # Actual altitude: 51.483387 # Commanded vehicle depth: 1775.901776 # Seafloor depth: -1827.385163 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.683036 meters # Minimum depth: 1805.154521 meters looking forward 100.000000 meters along route # Maximum depth: 1830.040488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.154521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127294; longitude = -129.959195; duration = 406; initialDepth = 1752.332364; finalDepth = 1755.154521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8859670000002 # Actual altitude: 74.8859670000002 # Commanded vehicle depth: 1755.154521 # Seafloor depth: -1830.040488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.784159 meters # Minimum depth: 1802.332364 meters looking forward 100.000000 meters along route # Maximum depth: 1805.324417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.332364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126497; longitude = -129.959842; duration = 411; initialDepth = 1753.697095; finalDepth = 1752.332364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8859670000002 # Actual altitude: 74.8859670000002 # Commanded vehicle depth: 1752.332364 # Seafloor depth: -1805.324417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.582972 meters # Minimum depth: 1803.697095 meters looking forward 100.000000 meters along route # Maximum depth: 1814.885702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.697095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125691; longitude = -129.960497; duration = 402; initialDepth = 1763.608445; finalDepth = 1753.697095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9920529999999 # Actual altitude: 52.9920529999999 # Commanded vehicle depth: 1753.697095 # Seafloor depth: -1804.556200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.684096 meters # Minimum depth: 1813.608445 meters looking forward 100.000000 meters along route # Maximum depth: 1817.346630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.608445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124903; longitude = -129.961137; duration = 406; initialDepth = 1766.242314; finalDepth = 1763.608445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.506562 # Actual altitude: 51.506562 # Commanded vehicle depth: 1763.608445 # Seafloor depth: -1815.115007 # 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 16 # Segment length 103.334035 meters # Minimum depth: 1816.242314 meters looking forward 100.000000 meters along route # Maximum depth: 1820.505080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.242314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124106; longitude = -129.961784; duration = 413; initialDepth = 1765.895920; finalDepth = 1766.242314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.506562 # Actual altitude: 51.506562 # Commanded vehicle depth: 1766.242314 # Seafloor depth: -1816.242314 # 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 16 # Segment length 100.035215 meters # Minimum depth: 1815.895920 meters looking forward 100.000000 meters along route # Maximum depth: 1819.938341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.895920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123297; longitude = -129.962442; duration = 400; initialDepth = 1765.591857; finalDepth = 1765.895920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.92868 # Actual altitude: 50.92868 # Commanded vehicle depth: 1765.89592 # Seafloor depth: -1816.824600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.685155 meters # Minimum depth: 1815.591857 meters looking forward 100.000000 meters along route # Maximum depth: 1824.100675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.591857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122513; longitude = -129.963079; duration = 406; initialDepth = 1761.969342; finalDepth = 1765.591857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.92868 # Actual altitude: 50.92868 # Commanded vehicle depth: 1765.591857 # Seafloor depth: -1815.979606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.685509 meters # Minimum depth: 1811.969342 meters looking forward 100.000000 meters along route # Maximum depth: 1824.409931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.969342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121716; longitude = -129.963726; duration = 406; initialDepth = 1756.575501; finalDepth = 1761.969342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4405889999998 # Actual altitude: 62.4405889999998 # Commanded vehicle depth: 1761.969342 # Seafloor depth: -1824.409931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.685862 meters # Minimum depth: 1806.575501 meters looking forward 100.000000 meters along route # Maximum depth: 1813.609413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.575501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120919; longitude = -129.964373; duration = 406; initialDepth = 1747.867690; finalDepth = 1756.575501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4405889999998 # Actual altitude: 62.4405889999998 # Commanded vehicle depth: 1756.575501 # Seafloor depth: -1813.488704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.686215 meters # Minimum depth: 1797.867690 meters looking forward 100.000000 meters along route # Maximum depth: 1833.471110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.867690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120122; longitude = -129.965020; duration = 406; initialDepth = 1773.573995; finalDepth = 1747.867690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.026734 # Actual altitude: 60.026734 # Commanded vehicle depth: 1747.86769 # Seafloor depth: -1807.894424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.686568 meters # Minimum depth: 1823.573995 meters looking forward 100.000000 meters along route # Maximum depth: 1835.361192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.573995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119326; longitude = -129.965667; duration = 406; initialDepth = 1771.984792; finalDepth = 1773.573995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.026734 # Actual altitude: 60.026734 # Commanded vehicle depth: 1773.573995 # Seafloor depth: -1833.278726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.863878 meters # Minimum depth: 1821.984792 meters looking forward 100.000000 meters along route # Maximum depth: 1838.364826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.984792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118529; longitude = -129.966315; duration = 407; initialDepth = 1778.822754; finalDepth = 1771.984792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.704731 # Actual altitude: 59.704731 # Commanded vehicle depth: 1771.984792 # Seafloor depth: -1824.699722 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.510319 meters # Minimum depth: 1828.822754 meters looking forward 100.000000 meters along route # Maximum depth: 1837.664721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.822754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117731; longitude = -129.966963; duration = 406; initialDepth = 1765.177267; finalDepth = 1778.822754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3056369999999 # Actual altitude: 58.3056369999999 # Commanded vehicle depth: 1778.822754 # Seafloor depth: -1837.128391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.687628 meters # Minimum depth: 1815.177267 meters looking forward 100.000000 meters along route # Maximum depth: 1830.707861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.177267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116935; longitude = -129.967609; duration = 406; initialDepth = 1747.863909; finalDepth = 1765.177267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0191050000001 # Actual altitude: 64.0191050000001 # Commanded vehicle depth: 1765.177267 # Seafloor depth: -1829.196372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.413763 meters # Minimum depth: 1797.863909 meters looking forward 100.000000 meters along route # Maximum depth: 1823.838653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.863909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116138; longitude = -129.968256; duration = 409; initialDepth = 1737.164747; finalDepth = 1747.863909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.2447730000001 # Actual altitude: 72.2447730000001 # Commanded vehicle depth: 1747.863909 # Seafloor depth: -1820.108682 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.962553 meters # Minimum depth: 1787.164747 meters looking forward 100.000000 meters along route # Maximum depth: 1799.607677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.164747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115336; longitude = -129.968908; duration = 403; initialDepth = 1729.220637; finalDepth = 1737.164747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.2447730000001 # Actual altitude: 72.2447730000001 # Commanded vehicle depth: 1737.164747 # Seafloor depth: -1797.678629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.688688 meters # Minimum depth: 1779.220637 meters looking forward 100.000000 meters along route # Maximum depth: 1788.118172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.220637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114545; longitude = -129.969551; duration = 406; initialDepth = 1727.140464; finalDepth = 1729.220637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.513882 # Actual altitude: 60.513882 # Commanded vehicle depth: 1729.220637 # Seafloor depth: -1787.718765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.963660 meters # Minimum depth: 1777.140464 meters looking forward 100.000000 meters along route # Maximum depth: 1780.898411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.140464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113748; longitude = -129.970198; duration = 411; initialDepth = 1720.681142; finalDepth = 1727.140464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4981280000002 # Actual altitude: 58.4981280000002 # Commanded vehicle depth: 1727.140464 # Seafloor depth: -1778.899711 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.414776 meters # Minimum depth: 1770.681142 meters looking forward 100.000000 meters along route # Maximum depth: 1781.006633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.681142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112941; longitude = -129.970853; duration = 401; initialDepth = 1707.783730; finalDepth = 1720.681142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9864230000001 # Actual altitude: 57.9864230000001 # Commanded vehicle depth: 1720.681142 # Seafloor depth: -1778.667565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.689748 meters # Minimum depth: 1757.783730 meters looking forward 100.000000 meters along route # Maximum depth: 1770.591827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.783730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112154; longitude = -129.971492; duration = 406; initialDepth = 1707.876744; finalDepth = 1707.783730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8080969999999 # Actual altitude: 62.8080969999999 # Commanded vehicle depth: 1707.78373 # Seafloor depth: -1770.591827 # 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 16 # Segment length 101.690102 meters # Minimum depth: 1757.876744 meters looking forward 100.000000 meters along route # Maximum depth: 1769.011943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.876744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111358; longitude = -129.972140; duration = 406; initialDepth = 1711.035080; finalDepth = 1707.876744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8080969999999 # Actual altitude: 62.8080969999999 # Commanded vehicle depth: 1707.876744 # Seafloor depth: -1758.319509 # 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 16 # Segment length 101.690455 meters # Minimum depth: 1761.035080 meters looking forward 100.000000 meters along route # Maximum depth: 1769.228808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.035080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110561; longitude = -129.972787; duration = 406; initialDepth = 1703.927551; finalDepth = 1711.035080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.493569 # Actual altitude: 57.493569 # Commanded vehicle depth: 1711.03508 # Seafloor depth: -1768.528649 # 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 16 # Segment length 101.690808 meters # Minimum depth: 1753.927551 meters looking forward 100.000000 meters along route # Maximum depth: 1764.663860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.927551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109764; longitude = -129.973434; duration = 406; initialDepth = 1714.094928; finalDepth = 1703.927551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.493569 # Actual altitude: 57.493569 # Commanded vehicle depth: 1703.927551 # Seafloor depth: -1760.662049 # 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 16 # Segment length 101.691161 meters # Minimum depth: 1764.094928 meters looking forward 100.000000 meters along route # Maximum depth: 1779.002025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.094928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108967; longitude = -129.974081; duration = 406; initialDepth = 1730.993158; finalDepth = 1714.094928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.734498 # Actual altitude: 56.734498 # Commanded vehicle depth: 1714.094928 # Seafloor depth: -1764.566047 # 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 16 # Segment length 101.691515 meters # Minimum depth: 1780.993158 meters looking forward 100.000000 meters along route # Maximum depth: 1790.885455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.993158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108170; longitude = -129.974729; duration = 406; initialDepth = 1738.308862; finalDepth = 1730.993158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.471119 # Actual altitude: 50.471119 # Commanded vehicle depth: 1730.993158 # Seafloor depth: -1780.993158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.691869 meters # Minimum depth: 1788.308862 meters looking forward 100.000000 meters along route # Maximum depth: 1790.763933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.308862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107374; longitude = -129.975376; duration = 406; initialDepth = 1738.857341; finalDepth = 1738.308862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4550709999999 # Actual altitude: 52.4550709999999 # Commanded vehicle depth: 1738.308862 # Seafloor depth: -1790.763933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.692221 meters # Minimum depth: 1788.857341 meters looking forward 100.000000 meters along route # Maximum depth: 1794.342194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.857341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106577; longitude = -129.976023; duration = 406; initialDepth = 1736.676289; finalDepth = 1738.857341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4550709999999 # Actual altitude: 52.4550709999999 # Commanded vehicle depth: 1738.857341 # Seafloor depth: -1789.890394 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.043335 meters # Minimum depth: 1786.676289 meters looking forward 100.000000 meters along route # Maximum depth: 1789.250521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.676289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105780; longitude = -129.976670; duration = 408; initialDepth = 1739.157678; finalDepth = 1736.676289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4884400000001 # Actual altitude: 52.4884400000001 # Commanded vehicle depth: 1736.676289 # Seafloor depth: -1789.164729 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.342169 meters # Minimum depth: 1789.157678 meters looking forward 100.000000 meters along route # Maximum depth: 1792.717128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.157678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104980; longitude = -129.977320; duration = 405; initialDepth = 1738.910281; finalDepth = 1739.157678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4884400000001 # Actual altitude: 52.4884400000001 # Commanded vehicle depth: 1739.157678 # Seafloor depth: -1789.223889 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.693281 meters # Minimum depth: 1788.910281 meters looking forward 100.000000 meters along route # Maximum depth: 1791.240018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.910281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104186; longitude = -129.977965; duration = 406; initialDepth = 1739.104873; finalDepth = 1738.910281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.112108 # Actual altitude: 52.112108 # Commanded vehicle depth: 1738.910281 # Seafloor depth: -1791.022389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.593253 meters # Minimum depth: 1789.104873 meters looking forward 100.000000 meters along route # Maximum depth: 1793.038403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.104873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103390; longitude = -129.978612; duration = 410; initialDepth = 1733.158014; finalDepth = 1739.104873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.112108 # Actual altitude: 52.112108 # Commanded vehicle depth: 1739.104873 # Seafloor depth: -1789.283774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.794371 meters # Minimum depth: 1783.158014 meters looking forward 100.000000 meters along route # Maximum depth: 1791.887655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.158014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102586; longitude = -129.979265; duration = 403; initialDepth = 1711.427876; finalDepth = 1733.158014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.890807 # Actual altitude: 57.890807 # Commanded vehicle depth: 1733.158014 # Seafloor depth: -1791.048821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.694342 meters # Minimum depth: 1761.427876 meters looking forward 100.000000 meters along route # Maximum depth: 1782.581131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.427876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101796; longitude = -129.979906; duration = 406; initialDepth = 1715.885063; finalDepth = 1711.427876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1532549999999 # Actual altitude: 71.1532549999999 # Commanded vehicle depth: 1711.427876 # Seafloor depth: -1782.581131 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.143182 meters # Minimum depth: 1765.885063 meters looking forward 100.000000 meters along route # Maximum depth: 1771.354256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.885063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100999; longitude = -129.980553; duration = 412; initialDepth = 1706.113653; finalDepth = 1715.885063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1532549999999 # Actual altitude: 71.1532549999999 # Commanded vehicle depth: 1715.885063 # Seafloor depth: -1768.069705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.246563 meters # Minimum depth: 1756.113653 meters looking forward 100.000000 meters along route # Maximum depth: 1768.562757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.113653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100191; longitude = -129.981210; duration = 400; initialDepth = 1702.910915; finalDepth = 1706.113653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7966009999998 # Actual altitude: 59.7966009999998 # Commanded vehicle depth: 1706.113653 # Seafloor depth: -1765.910254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.695402 meters # Minimum depth: 1752.910915 meters looking forward 100.000000 meters along route # Maximum depth: 1758.223839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.910915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099406; longitude = -129.981848; duration = 406; initialDepth = 1704.545587; finalDepth = 1702.910915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7966009999998 # Actual altitude: 59.7966009999998 # Commanded vehicle depth: 1702.910915 # Seafloor depth: -1756.330181 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.695756 meters # Minimum depth: 1754.545587 meters looking forward 100.000000 meters along route # Maximum depth: 1758.824417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.545587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098609; longitude = -129.982495; duration = 406; initialDepth = 1703.343592; finalDepth = 1704.545587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4192660000001 # Actual altitude: 53.4192660000001 # Commanded vehicle depth: 1704.545587 # Seafloor depth: -1754.618059 # 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 16 # Segment length 101.696109 meters # Minimum depth: 1753.343592 meters looking forward 100.000000 meters along route # Maximum depth: 1757.978684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.343592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097812; longitude = -129.983142; duration = 406; initialDepth = 1700.831970; finalDepth = 1703.343592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.702859 # Actual altitude: 51.702859 # Commanded vehicle depth: 1703.343592 # Seafloor depth: -1755.046451 # 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 16 # Segment length 101.696462 meters # Minimum depth: 1750.831970 meters looking forward 100.000000 meters along route # Maximum depth: 1753.665995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.831970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097015; longitude = -129.983790; duration = 406; initialDepth = 1703.119849; finalDepth = 1700.831970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4061120000001 # Actual altitude: 52.4061120000001 # Commanded vehicle depth: 1700.83197 # Seafloor depth: -1753.238082 # 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 16 # Segment length 101.696816 meters # Minimum depth: 1753.119849 meters looking forward 100.000000 meters along route # Maximum depth: 1767.710286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.119849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096218; longitude = -129.984437; duration = 406; initialDepth = 1714.255230; finalDepth = 1703.119849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4061120000001 # Actual altitude: 52.4061120000001 # Commanded vehicle depth: 1703.119849 # Seafloor depth: -1753.119849 # 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 16 # Segment length 101.697170 meters # Minimum depth: 1764.255230 meters looking forward 100.000000 meters along route # Maximum depth: 1767.704029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.255230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095422; longitude = -129.985084; duration = 406; initialDepth = 1705.201989; finalDepth = 1714.255230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5301489999999 # Actual altitude: 52.5301489999999 # Commanded vehicle depth: 1714.25523 # Seafloor depth: -1766.785379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.697523 meters # Minimum depth: 1755.201989 meters looking forward 100.000000 meters along route # Maximum depth: 1765.565368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.201989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094625; longitude = -129.985731; duration = 406; initialDepth = 1698.918992; finalDepth = 1705.201989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3633790000001 # Actual altitude: 60.3633790000001 # Commanded vehicle depth: 1705.201989 # Seafloor depth: -1765.565368 # 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 16 # Segment length 101.697877 meters # Minimum depth: 1748.918992 meters looking forward 100.000000 meters along route # Maximum depth: 1756.742430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.918992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093828; longitude = -129.986378; duration = 406; initialDepth = 1696.860148; finalDepth = 1698.918992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3633790000001 # Actual altitude: 60.3633790000001 # Commanded vehicle depth: 1698.918992 # Seafloor depth: -1755.531445 # 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 16 # Segment length 102.222812 meters # Minimum depth: 1746.860148 meters looking forward 100.000000 meters along route # Maximum depth: 1752.583392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.860148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093031; longitude = -129.987026; duration = 408; initialDepth = 1694.730073; finalDepth = 1696.860148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6124530000002 # Actual altitude: 56.6124530000002 # Commanded vehicle depth: 1696.860148 # Seafloor depth: -1749.309188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.388666 meters # Minimum depth: 1744.730073 meters looking forward 100.000000 meters along route # Maximum depth: 1749.256951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.730073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092230; longitude = -129.987676; duration = 429; initialDepth = 1693.334171; finalDepth = 1694.730073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.180269 # Actual altitude: 54.180269 # Commanded vehicle depth: 1694.730073 # Seafloor depth: -1748.910342 # 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 16 # Segment length 100.935423 meters # Minimum depth: 1743.334171 meters looking forward 100.000000 meters along route # Maximum depth: 1747.069641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.334171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091389; longitude = -129.988360; duration = 403; initialDepth = 1692.758949; finalDepth = 1693.334171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.180269 # Actual altitude: 54.180269 # Commanded vehicle depth: 1693.334171 # Seafloor depth: -1745.089556 # 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; } # ####################################################### # # 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 149.993917 meters # Minimum depth: 1742.758949 meters looking forward 100.000000 meters along route # Maximum depth: 1745.939505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.758949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090598; longitude = -129.989002; duration = 599; # abortOnTimeout = True; initialDepth = 1692.678926; finalDepth = 1692.758949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.917778 # Actual altitude: 52.917778 # Commanded vehicle depth: 1692.758949 # Seafloor depth: -1745.676727 # 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; } # ####################################################### # # 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 149.010659 meters # Minimum depth: 1742.678926 meters looking forward 100.000000 meters along route # Maximum depth: 1745.662354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.678926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091261; longitude = -129.990692; duration = 596; # abortOnTimeout = True; initialDepth = 1692.691106; finalDepth = 1692.678926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.983428 # Actual altitude: 52.983428 # Commanded vehicle depth: 1692.678926 # Seafloor depth: -1745.662354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.728938 meters # Minimum depth: 1742.691106 meters looking forward 100.000000 meters along route # Maximum depth: 1750.737152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.691106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092429; longitude = -129.989744; duration = 406; initialDepth = 1699.946640; finalDepth = 1692.691106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.983428 # Actual altitude: 52.983428 # Commanded vehicle depth: 1692.691106 # Seafloor depth: -1742.953785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.728585 meters # Minimum depth: 1749.946640 meters looking forward 100.000000 meters along route # Maximum depth: 1753.347551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.946640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093226; longitude = -129.989097; duration = 406; initialDepth = 1694.109615; finalDepth = 1699.946640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.076227 # Actual altitude: 51.076227 # Commanded vehicle depth: 1699.94664 # Seafloor depth: -1751.022867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.728232 meters # Minimum depth: 1744.109615 meters looking forward 100.000000 meters along route # Maximum depth: 1750.608405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.109615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094023; longitude = -129.988450; duration = 406; initialDepth = 1694.107582; finalDepth = 1694.109615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9736349999998 # Actual altitude: 55.9736349999998 # Commanded vehicle depth: 1694.109615 # Seafloor depth: -1750.083250 # 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 14 # Segment length 101.727878 meters # Minimum depth: 1744.107582 meters looking forward 100.000000 meters along route # Maximum depth: 1748.855391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.107582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094820; longitude = -129.987802; duration = 406; initialDepth = 1698.434805; finalDepth = 1694.107582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9736349999998 # Actual altitude: 55.9736349999998 # Commanded vehicle depth: 1694.107582 # Seafloor depth: -1744.107582 # 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 14 # Segment length 101.727524 meters # Minimum depth: 1748.434805 meters looking forward 100.000000 meters along route # Maximum depth: 1754.663639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.434805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095617; longitude = -129.987155; duration = 406; initialDepth = 1704.270720; finalDepth = 1698.434805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.858892 # Actual altitude: 50.858892 # Commanded vehicle depth: 1698.434805 # Seafloor depth: -1749.293697 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.041164 meters # Minimum depth: 1754.270720 meters looking forward 100.000000 meters along route # Maximum depth: 1758.570233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.270720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096414; longitude = -129.986508; duration = 408; initialDepth = 1705.681277; finalDepth = 1704.270720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.858892 # Actual altitude: 50.858892 # Commanded vehicle depth: 1704.27072 # Seafloor depth: -1754.447738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.412825 meters # Minimum depth: 1755.681277 meters looking forward 100.000000 meters along route # Maximum depth: 1759.990527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.681277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097214; longitude = -129.985859; duration = 405; initialDepth = 1705.481527; finalDepth = 1705.681277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.233999 # Actual altitude: 50.233999 # Commanded vehicle depth: 1705.681277 # Seafloor depth: -1755.915276 # 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 14 # Segment length 101.726464 meters # Minimum depth: 1755.481527 meters looking forward 100.000000 meters along route # Maximum depth: 1758.771849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.481527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098008; longitude = -129.985213; duration = 406; initialDepth = 1705.535795; finalDepth = 1705.481527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.547219 # Actual altitude: 52.547219 # Commanded vehicle depth: 1705.481527 # Seafloor depth: -1758.028746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.467170 meters # Minimum depth: 1755.535795 meters looking forward 100.000000 meters along route # Maximum depth: 1764.437551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.535795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098806; longitude = -129.984566; duration = 409; initialDepth = 1709.050817; finalDepth = 1705.535795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.547219 # Actual altitude: 52.547219 # Commanded vehicle depth: 1705.535795 # Seafloor depth: -1755.535795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.984697 meters # Minimum depth: 1759.050817 meters looking forward 100.000000 meters along route # Maximum depth: 1763.643494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.050817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099608; longitude = -129.983914; duration = 403; initialDepth = 1711.859602; finalDepth = 1709.050817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5926769999999 # Actual altitude: 54.5926769999999 # Commanded vehicle depth: 1709.050817 # Seafloor depth: -1763.643494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.725404 meters # Minimum depth: 1761.859602 meters looking forward 100.000000 meters along route # Maximum depth: 1769.317112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.859602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100400; longitude = -129.983272; duration = 406; initialDepth = 1711.188166; finalDepth = 1711.859602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5926769999999 # Actual altitude: 54.5926769999999 # Commanded vehicle depth: 1711.859602 # Seafloor depth: -1761.859602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.893168 meters # Minimum depth: 1761.188166 meters looking forward 100.000000 meters along route # Maximum depth: 1771.960826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.188166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101197; longitude = -129.982625; duration = 411; initialDepth = 1715.574487; finalDepth = 1711.188166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1076410000001 # Actual altitude: 50.1076410000001 # Commanded vehicle depth: 1711.188166 # Seafloor depth: -1761.295807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.556578 meters # Minimum depth: 1765.574487 meters looking forward 100.000000 meters along route # Maximum depth: 1769.686523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.574487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102003; longitude = -129.981970; duration = 402; initialDepth = 1719.922378; finalDepth = 1715.574487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1607549999999 # Actual altitude: 52.1607549999999 # Commanded vehicle depth: 1715.574487 # Seafloor depth: -1767.735242 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.724344 meters # Minimum depth: 1769.922378 meters looking forward 100.000000 meters along route # Maximum depth: 1773.994050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.922378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102791; longitude = -129.981330; duration = 406; initialDepth = 1720.886215; finalDepth = 1719.922378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1607549999999 # Actual altitude: 52.1607549999999 # Commanded vehicle depth: 1719.922378 # Seafloor depth: -1769.922378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.319157 meters # Minimum depth: 1770.886215 meters looking forward 100.000000 meters along route # Maximum depth: 1772.960034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.886215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103588; longitude = -129.980683; duration = 413; initialDepth = 1722.867429; finalDepth = 1720.886215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6226200000001 # Actual altitude: 51.6226200000001 # Commanded vehicle depth: 1720.886215 # Seafloor depth: -1772.508835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.128469 meters # Minimum depth: 1772.867429 meters looking forward 100.000000 meters along route # Maximum depth: 1781.516917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.867429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104398; longitude = -129.980026; duration = 400; initialDepth = 1715.117612; finalDepth = 1722.867429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6226200000001 # Actual altitude: 51.6226200000001 # Commanded vehicle depth: 1722.867429 # Seafloor depth: -1772.867429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.723282 meters # Minimum depth: 1765.117612 meters looking forward 100.000000 meters along route # Maximum depth: 1775.297445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.117612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105183; longitude = -129.979388; duration = 406; initialDepth = 1713.976410; finalDepth = 1715.117612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1798329999999 # Actual altitude: 60.1798329999999 # Commanded vehicle depth: 1715.117612 # Seafloor depth: -1775.297445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.722930 meters # Minimum depth: 1763.976410 meters looking forward 100.000000 meters along route # Maximum depth: 1767.847723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.976410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105980; longitude = -129.978741; duration = 406; initialDepth = 1718.162319; finalDepth = 1713.976410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1798329999999 # Actual altitude: 60.1798329999999 # Commanded vehicle depth: 1713.97641 # Seafloor depth: -1765.028283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.722576 meters # Minimum depth: 1768.162319 meters looking forward 100.000000 meters along route # Maximum depth: 1770.301385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.162319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106777; longitude = -129.978094; duration = 406; initialDepth = 1720.329212; finalDepth = 1718.162319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0518730000001 # Actual altitude: 51.0518730000001 # Commanded vehicle depth: 1718.162319 # Seafloor depth: -1768.321628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.722222 meters # Minimum depth: 1770.329212 meters looking forward 100.000000 meters along route # Maximum depth: 1775.348135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.329212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107574; longitude = -129.977447; duration = 406; initialDepth = 1709.125055; finalDepth = 1720.329212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1593089999999 # Actual altitude: 50.1593089999999 # Commanded vehicle depth: 1720.329212 # Seafloor depth: -1770.329212 # 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 14 # Segment length 101.721869 meters # Minimum depth: 1759.125055 meters looking forward 100.000000 meters along route # Maximum depth: 1775.486537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.125055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108371; longitude = -129.976800; duration = 406; initialDepth = 1704.824325; finalDepth = 1709.125055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.361482 # Actual altitude: 66.361482 # Commanded vehicle depth: 1709.125055 # Seafloor depth: -1775.486537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.721516 meters # Minimum depth: 1754.824325 meters looking forward 100.000000 meters along route # Maximum depth: 1758.671997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.824325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109168; longitude = -129.976152; duration = 406; initialDepth = 1704.793763; finalDepth = 1704.824325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.361482 # Actual altitude: 66.361482 # Commanded vehicle depth: 1704.824325 # Seafloor depth: -1758.575896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.721162 meters # Minimum depth: 1754.793763 meters looking forward 100.000000 meters along route # Maximum depth: 1766.638227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.793763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109965; longitude = -129.975505; duration = 406; initialDepth = 1717.585381; finalDepth = 1704.793763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.751571 # Actual altitude: 53.751571 # Commanded vehicle depth: 1704.793763 # Seafloor depth: -1755.126241 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.720809 meters # Minimum depth: 1767.585381 meters looking forward 100.000000 meters along route # Maximum depth: 1775.576540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.585381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110762; longitude = -129.974858; duration = 406; initialDepth = 1721.852519; finalDepth = 1717.585381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.332478 # Actual altitude: 50.332478 # Commanded vehicle depth: 1717.585381 # Seafloor depth: -1767.585381 # 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 14 # Segment length 101.986013 meters # Minimum depth: 1771.852519 meters looking forward 100.000000 meters along route # Maximum depth: 1778.644308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.852519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111559; longitude = -129.974211; duration = 407; initialDepth = 1714.916946; finalDepth = 1721.852519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8931809999999 # Actual altitude: 53.8931809999999 # Commanded vehicle depth: 1721.852519 # Seafloor depth: -1775.745700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.454545 meters # Minimum depth: 1764.916946 meters looking forward 100.000000 meters along route # Maximum depth: 1776.342037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.916946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112359; longitude = -129.973562; duration = 405; initialDepth = 1721.644094; finalDepth = 1714.916946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4250909999998 # Actual altitude: 61.4250909999998 # Commanded vehicle depth: 1714.916946 # Seafloor depth: -1776.342037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.719749 meters # Minimum depth: 1771.644094 meters looking forward 100.000000 meters along route # Maximum depth: 1775.736418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.644094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113154; longitude = -129.972916; duration = 406; initialDepth = 1726.036297; finalDepth = 1721.644094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4250909999998 # Actual altitude: 61.4250909999998 # Commanded vehicle depth: 1721.644094 # Seafloor depth: -1774.301718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.411992 meters # Minimum depth: 1776.036297 meters looking forward 100.000000 meters along route # Maximum depth: 1780.272667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.036297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113951; longitude = -129.972269; duration = 409; initialDepth = 1729.015721; finalDepth = 1726.036297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6576239999999 # Actual altitude: 52.6576239999999 # Commanded vehicle depth: 1726.036297 # Seafloor depth: -1776.135319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.026445 meters # Minimum depth: 1779.015721 meters looking forward 100.000000 meters along route # Maximum depth: 1785.985767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.015721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114753; longitude = -129.971617; duration = 404; initialDepth = 1734.003382; finalDepth = 1729.015721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0990219999999 # Actual altitude: 50.0990219999999 # Commanded vehicle depth: 1729.015721 # Seafloor depth: -1779.015721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.718689 meters # Minimum depth: 1784.003382 meters looking forward 100.000000 meters along route # Maximum depth: 1789.084531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.003382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115545; longitude = -129.970975; duration = 406; initialDepth = 1730.309997; finalDepth = 1734.003382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0154639999998 # Actual altitude: 51.0154639999998 # Commanded vehicle depth: 1734.003382 # Seafloor depth: -1785.018846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.837963 meters # Minimum depth: 1780.309997 meters looking forward 100.000000 meters along route # Maximum depth: 1791.459571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.309997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116342; longitude = -129.970327; duration = 411; initialDepth = 1719.884188; finalDepth = 1730.309997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.934262 # Actual altitude: 58.934262 # Commanded vehicle depth: 1730.309997 # Seafloor depth: -1789.244259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.598354 meters # Minimum depth: 1769.884188 meters looking forward 100.000000 meters along route # Maximum depth: 1782.714056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.884188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117148; longitude = -129.969673; duration = 402; initialDepth = 1720.547452; finalDepth = 1719.884188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.829868 # Actual altitude: 62.829868 # Commanded vehicle depth: 1719.884188 # Seafloor depth: -1782.714056 # 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 14 # Segment length 101.717629 meters # Minimum depth: 1770.547452 meters looking forward 100.000000 meters along route # Maximum depth: 1774.470664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.547452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117936; longitude = -129.969033; duration = 406; initialDepth = 1720.991203; finalDepth = 1720.547452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.829868 # Actual altitude: 62.829868 # Commanded vehicle depth: 1720.547452 # Seafloor depth: -1772.150837 # 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 14 # Segment length 103.263924 meters # Minimum depth: 1770.991203 meters looking forward 100.000000 meters along route # Maximum depth: 1773.511650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.991203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118734; longitude = -129.968386; duration = 413; initialDepth = 1722.379424; finalDepth = 1720.991203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6033849999999 # Actual altitude: 51.6033849999999 # Commanded vehicle depth: 1720.991203 # Seafloor depth: -1771.170157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.170273 meters # Minimum depth: 1772.379424 meters looking forward 100.000000 meters along route # Maximum depth: 1781.419125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.379424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119543; longitude = -129.967729; duration = 400; initialDepth = 1731.387156; finalDepth = 1722.379424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5882449999999 # Actual altitude: 50.5882449999999 # Commanded vehicle depth: 1722.379424 # Seafloor depth: -1772.967669 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.716568 meters # Minimum depth: 1781.387156 meters looking forward 100.000000 meters along route # Maximum depth: 1799.774032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.387156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120328; longitude = -129.967091; duration = 406; initialDepth = 1743.585181; finalDepth = 1731.387156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5882449999999 # Actual altitude: 50.5882449999999 # Commanded vehicle depth: 1731.387156 # Seafloor depth: -1781.387156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.716216 meters # Minimum depth: 1793.585181 meters looking forward 100.000000 meters along route # Maximum depth: 1802.898091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.585181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121125; longitude = -129.966444; duration = 406; initialDepth = 1743.408248; finalDepth = 1743.585181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.968957 # Actual altitude: 55.968957 # Commanded vehicle depth: 1743.585181 # Seafloor depth: -1799.554138 # 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 14 # Segment length 101.715862 meters # Minimum depth: 1793.408248 meters looking forward 100.000000 meters along route # Maximum depth: 1805.878499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.408248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121922; longitude = -129.965797; duration = 406; initialDepth = 1755.964110; finalDepth = 1743.408248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.968957 # Actual altitude: 55.968957 # Commanded vehicle depth: 1743.408248 # Seafloor depth: -1794.531665 # 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 14 # Segment length 101.715508 meters # Minimum depth: 1805.964110 meters looking forward 100.000000 meters along route # Maximum depth: 1809.820813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.964110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122719; longitude = -129.965150; duration = 406; initialDepth = 1756.164528; finalDepth = 1755.964110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.123417 # Actual altitude: 51.123417 # Commanded vehicle depth: 1755.96411 # Seafloor depth: -1805.964110 # 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 14 # Segment length 101.715156 meters # Minimum depth: 1806.164528 meters looking forward 100.000000 meters along route # Maximum depth: 1809.676049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.164528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123516; longitude = -129.964502; duration = 406; initialDepth = 1753.682871; finalDepth = 1756.164528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.164528 # Seafloor depth: -1806.164528 # 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 14 # Segment length 101.714802 meters # Minimum depth: 1803.682871 meters looking forward 100.000000 meters along route # Maximum depth: 1808.009780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.682871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124313; longitude = -129.963855; duration = 406; initialDepth = 1751.146296; finalDepth = 1753.682871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2353270000001 # Actual altitude: 54.2353270000001 # Commanded vehicle depth: 1753.682871 # Seafloor depth: -1807.918198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.714449 meters # Minimum depth: 1801.146296 meters looking forward 100.000000 meters along route # Maximum depth: 1808.148518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.146296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125111; longitude = -129.963208; duration = 406; initialDepth = 1740.262629; finalDepth = 1751.146296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2353270000001 # Actual altitude: 54.2353270000001 # Commanded vehicle depth: 1751.146296 # Seafloor depth: -1803.819012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.714095 meters # Minimum depth: 1790.262629 meters looking forward 100.000000 meters along route # Maximum depth: 1800.315646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.262629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125908; longitude = -129.962561; duration = 406; initialDepth = 1732.806976; finalDepth = 1740.262629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.053017 # Actual altitude: 60.053017 # Commanded vehicle depth: 1740.262629 # Seafloor depth: -1800.315646 # 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 14 # Segment length 101.930871 meters # Minimum depth: 1782.806976 meters looking forward 100.000000 meters along route # Maximum depth: 1789.108666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.806976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126705; longitude = -129.961914; duration = 407; initialDepth = 1734.195103; finalDepth = 1732.806976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.053017 # Actual altitude: 60.053017 # Commanded vehicle depth: 1732.806976 # Seafloor depth: -1789.108666 # 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 14 # Segment length 101.496260 meters # Minimum depth: 1784.195103 meters looking forward 100.000000 meters along route # Maximum depth: 1807.643847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.195103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127504; longitude = -129.961265; duration = 405; initialDepth = 1759.010367; finalDepth = 1734.195103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.30169 # Actual altitude: 56.30169 # Commanded vehicle depth: 1734.195103 # Seafloor depth: -1784.774840 # 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 14 # Segment length 104.967683 meters # Minimum depth: 1809.010367 meters looking forward 100.000000 meters along route # Maximum depth: 1834.061900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.010367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128299; longitude = -129.960619; duration = 419; initialDepth = 1783.661484; finalDepth = 1759.010367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.579737 # Actual altitude: 50.579737 # Commanded vehicle depth: 1759.010367 # Seafloor depth: -1809.010367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.869469 meters # Minimum depth: 1833.661484 meters looking forward 100.000000 meters along route # Maximum depth: 1836.803377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.661484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129122; longitude = -129.959951; duration = 407; initialDepth = 1761.202551; finalDepth = 1783.661484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.6203090000001 # Actual altitude: 51.6203090000001 # Commanded vehicle depth: 1783.661484 # Seafloor depth: -1835.281793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 152.664475 meters # Minimum depth: 1811.202551 meters looking forward 100.000000 meters along route # Maximum depth: 1833.971893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.202551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129920; longitude = -129.959303; duration = 610; # abortOnTimeout = True; initialDepth = 1761.182164; finalDepth = 1761.202551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.7693419999998 # Actual altitude: 72.7693419999998 # Commanded vehicle depth: 1761.202551 # Seafloor depth: -1833.971893 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.66; 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 139.152248 meters # Minimum depth: 1811.182164 meters looking forward 100.000000 meters along route # Maximum depth: 1821.493583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.182164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130589; longitude = -129.961029; duration = 556; # abortOnTimeout = True; initialDepth = 1747.339069; finalDepth = 1761.182164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.7693419999998 # Actual altitude: 72.7693419999998 # Commanded vehicle depth: 1761.182164 # Seafloor depth: -1811.631500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.813455 meters # Minimum depth: 1797.339069 meters looking forward 100.000000 meters along route # Maximum depth: 1822.780471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.339069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129498; longitude = -129.961914; duration = 407; initialDepth = 1733.767722; finalDepth = 1747.339069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.3762399999998 # Actual altitude: 74.3762399999998 # Commanded vehicle depth: 1747.339069 # Seafloor depth: -1821.715309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.072323 meters # Minimum depth: 1783.767722 meters looking forward 100.000000 meters along route # Maximum depth: 1794.459407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.767722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128700; longitude = -129.962561; duration = 412; initialDepth = 1733.079570; finalDepth = 1733.767722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.3762399999998 # Actual altitude: 74.3762399999998 # Commanded vehicle depth: 1733.767722 # Seafloor depth: -1794.459407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.555646 meters # Minimum depth: 1783.079570 meters looking forward 100.000000 meters along route # Maximum depth: 1788.663727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.079570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127892; longitude = -129.963216; duration = 402; initialDepth = 1735.364995; finalDepth = 1733.079570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.691685 # Actual altitude: 60.691685 # Commanded vehicle depth: 1733.07957 # Seafloor depth: -1783.912749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.814515 meters # Minimum depth: 1785.364995 meters looking forward 100.000000 meters along route # Maximum depth: 1807.661097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.364995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127104; longitude = -129.963855; duration = 407; initialDepth = 1759.084794; finalDepth = 1735.364995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.833179 # Actual altitude: 50.833179 # Commanded vehicle depth: 1735.364995 # Seafloor depth: -1785.364995 # 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 12 # Segment length 103.102626 meters # Minimum depth: 1809.084794 meters looking forward 100.000000 meters along route # Maximum depth: 1817.844778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.084794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126305; longitude = -129.964502; duration = 412; initialDepth = 1762.280205; finalDepth = 1759.084794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3760179999999 # Actual altitude: 50.3760179999999 # Commanded vehicle depth: 1759.084794 # Seafloor depth: -1809.460812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.527464 meters # Minimum depth: 1812.280205 meters looking forward 100.000000 meters along route # Maximum depth: 1819.698612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.280205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125497; longitude = -129.965158; duration = 402; initialDepth = 1764.735261; finalDepth = 1762.280205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3760179999999 # Actual altitude: 50.3760179999999 # Commanded vehicle depth: 1762.280205 # Seafloor depth: -1812.280205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.815575 meters # Minimum depth: 1814.735261 meters looking forward 100.000000 meters along route # Maximum depth: 1831.723797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.735261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124709; longitude = -129.965797; duration = 407; initialDepth = 1751.329083; finalDepth = 1764.735261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5728569999999 # Actual altitude: 54.5728569999999 # Commanded vehicle depth: 1764.735261 # Seafloor depth: -1819.308118 # 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 12 # Segment length 103.132929 meters # Minimum depth: 1801.329083 meters looking forward 100.000000 meters along route # Maximum depth: 1812.288720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.329083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123911; longitude = -129.966444; duration = 412; initialDepth = 1746.211645; finalDepth = 1751.329083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9596369999999 # Actual altitude: 60.9596369999999 # Commanded vehicle depth: 1751.329083 # Seafloor depth: -1812.288720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.499281 meters # Minimum depth: 1796.211645 meters looking forward 100.000000 meters along route # Maximum depth: 1806.052518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.211645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123103; longitude = -129.967100; duration = 401; initialDepth = 1722.829205; finalDepth = 1746.211645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9596369999999 # Actual altitude: 60.9596369999999 # Commanded vehicle depth: 1746.211645 # Seafloor depth: -1806.052518 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.816636 meters # Minimum depth: 1772.829205 meters looking forward 100.000000 meters along route # Maximum depth: 1796.050657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.829205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122315; longitude = -129.967739; duration = 407; initialDepth = 1718.493125; finalDepth = 1722.829205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.221452 # Actual altitude: 73.221452 # Commanded vehicle depth: 1722.829205 # Seafloor depth: -1796.050657 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.163232 meters # Minimum depth: 1768.493125 meters looking forward 100.000000 meters along route # Maximum depth: 1772.701984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.493125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121517; longitude = -129.968386; duration = 412; initialDepth = 1719.145224; finalDepth = 1718.493125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.221452 # Actual altitude: 73.221452 # Commanded vehicle depth: 1718.493125 # Seafloor depth: -1772.480676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.471098 meters # Minimum depth: 1769.145224 meters looking forward 100.000000 meters along route # Maximum depth: 1772.709781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.145224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120708; longitude = -129.969042; duration = 401; initialDepth = 1718.479724; finalDepth = 1719.145224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9875509999999 # Actual altitude: 53.9875509999999 # Commanded vehicle depth: 1719.145224 # Seafloor depth: -1769.145224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.817696 meters # Minimum depth: 1768.479724 meters looking forward 100.000000 meters along route # Maximum depth: 1772.823104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.479724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119920; longitude = -129.969680; duration = 407; initialDepth = 1718.427577; finalDepth = 1718.479724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7397639999999 # Actual altitude: 53.7397639999999 # Commanded vehicle depth: 1718.479724 # Seafloor depth: -1772.219488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.193537 meters # Minimum depth: 1768.427577 meters looking forward 100.000000 meters along route # Maximum depth: 1770.327468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.427577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119122; longitude = -129.970327; duration = 412; initialDepth = 1718.166707; finalDepth = 1718.427577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7397639999999 # Actual altitude: 53.7397639999999 # Commanded vehicle depth: 1718.427577 # Seafloor depth: -1768.651009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.442914 meters # Minimum depth: 1768.166707 meters looking forward 100.000000 meters along route # Maximum depth: 1773.872307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.166707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118313; longitude = -129.970983; duration = 401; initialDepth = 1722.096813; finalDepth = 1718.166707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5995469999998 # Actual altitude: 50.5995469999998 # Commanded vehicle depth: 1718.166707 # Seafloor depth: -1768.766254 # 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 12 # Segment length 101.818756 meters # Minimum depth: 1772.096813 meters looking forward 100.000000 meters along route # Maximum depth: 1777.177493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.096813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117526; longitude = -129.971622; duration = 407; initialDepth = 1727.744401; finalDepth = 1722.096813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7964419999998 # Actual altitude: 51.7964419999998 # Commanded vehicle depth: 1722.096813 # Seafloor depth: -1773.893255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.223842 meters # Minimum depth: 1777.744401 meters looking forward 100.000000 meters along route # Maximum depth: 1794.992414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.744401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116728; longitude = -129.972269; duration = 412; initialDepth = 1734.521679; finalDepth = 1727.744401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7964419999998 # Actual altitude: 51.7964419999998 # Commanded vehicle depth: 1727.744401 # Seafloor depth: -1777.744401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.414731 meters # Minimum depth: 1784.521679 meters looking forward 100.000000 meters along route # Maximum depth: 1792.739085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.521679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115918; longitude = -129.972925; duration = 401; initialDepth = 1733.346889; finalDepth = 1734.521679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.201536 # Actual altitude: 58.201536 # Commanded vehicle depth: 1734.521679 # Seafloor depth: -1792.723215 # 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 12 # Segment length 101.819816 meters # Minimum depth: 1783.346889 meters looking forward 100.000000 meters along route # Maximum depth: 1786.647946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.346889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115131; longitude = -129.973564; duration = 407; initialDepth = 1724.798987; finalDepth = 1733.346889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.201536 # Actual altitude: 58.201536 # Commanded vehicle depth: 1733.346889 # Seafloor depth: -1784.495433 # 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 12 # Segment length 103.254148 meters # Minimum depth: 1774.798987 meters looking forward 100.000000 meters along route # Maximum depth: 1791.084595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.798987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114333; longitude = -129.974211; duration = 413; initialDepth = 1724.009979; finalDepth = 1724.798987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3460560000001 # Actual altitude: 60.3460560000001 # Commanded vehicle depth: 1724.798987 # Seafloor depth: -1785.145043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.386545 meters # Minimum depth: 1774.009979 meters looking forward 100.000000 meters along route # Maximum depth: 1780.036260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.009979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113524; longitude = -129.974867; duration = 401; initialDepth = 1725.458912; finalDepth = 1724.009979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3460560000001 # Actual altitude: 60.3460560000001 # Commanded vehicle depth: 1724.009979 # Seafloor depth: -1774.803376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.820877 meters # Minimum depth: 1775.458912 meters looking forward 100.000000 meters along route # Maximum depth: 1784.245740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.458912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112737; longitude = -129.975505; duration = 407; initialDepth = 1734.552029; finalDepth = 1725.458912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.077231 # Actual altitude: 51.077231 # Commanded vehicle depth: 1725.458912 # Seafloor depth: -1776.536143 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.284454 meters # Minimum depth: 1784.552029 meters looking forward 100.000000 meters along route # Maximum depth: 1792.618255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.552029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111939; longitude = -129.976152; duration = 413; initialDepth = 1737.799201; finalDepth = 1734.552029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.077231 # Actual altitude: 51.077231 # Commanded vehicle depth: 1734.552029 # Seafloor depth: -1784.552029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.358360 meters # Minimum depth: 1787.799201 meters looking forward 100.000000 meters along route # Maximum depth: 1792.214778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.799201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111129; longitude = -129.976809; duration = 401; initialDepth = 1734.054279; finalDepth = 1737.799201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.415577 # Actual altitude: 54.415577 # Commanded vehicle depth: 1737.799201 # Seafloor depth: -1792.214778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.821937 meters # Minimum depth: 1784.054279 meters looking forward 100.000000 meters along route # Maximum depth: 1793.781607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.054279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110342; longitude = -129.977447; duration = 407; initialDepth = 1725.169493; finalDepth = 1734.054279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.901521 # Actual altitude: 55.901521 # Commanded vehicle depth: 1734.054279 # Seafloor depth: -1789.955800 # 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 12 # Segment length 103.314762 meters # Minimum depth: 1775.169493 meters looking forward 100.000000 meters along route # Maximum depth: 1783.356215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.169493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109544; longitude = -129.978094; duration = 413; initialDepth = 1732.083151; finalDepth = 1725.169493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4992629999999 # Actual altitude: 57.4992629999999 # Commanded vehicle depth: 1725.169493 # Seafloor depth: -1782.668756 # 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 12 # Segment length 100.330173 meters # Minimum depth: 1782.083151 meters looking forward 100.000000 meters along route # Maximum depth: 1788.027897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.083151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108734; longitude = -129.978751; duration = 401; initialDepth = 1723.352377; finalDepth = 1732.083151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4992629999999 # Actual altitude: 57.4992629999999 # Commanded vehicle depth: 1732.083151 # Seafloor depth: -1782.083151 # 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 12 # Segment length 101.822998 meters # Minimum depth: 1773.352377 meters looking forward 100.000000 meters along route # Maximum depth: 1782.602303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.352377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107948; longitude = -129.979388; duration = 407; initialDepth = 1719.343535; finalDepth = 1723.352377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.249926 # Actual altitude: 59.249926 # Commanded vehicle depth: 1723.352377 # Seafloor depth: -1782.602303 # 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 12 # Segment length 103.345069 meters # Minimum depth: 1769.343535 meters looking forward 100.000000 meters along route # Maximum depth: 1775.470467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.343535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107150; longitude = -129.980036; duration = 413; initialDepth = 1717.634689; finalDepth = 1719.343535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.249926 # Actual altitude: 59.249926 # Commanded vehicle depth: 1719.343535 # Seafloor depth: -1774.111115 # 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 12 # Segment length 100.301988 meters # Minimum depth: 1767.634689 meters looking forward 100.000000 meters along route # Maximum depth: 1770.998538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.634689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106340; longitude = -129.980693; duration = 401; initialDepth = 1717.817624; finalDepth = 1717.634689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.76758 # Actual altitude: 54.76758 # Commanded vehicle depth: 1717.634689 # Seafloor depth: -1770.998538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.824058 meters # Minimum depth: 1767.817624 meters looking forward 100.000000 meters along route # Maximum depth: 1775.343432 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.817624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105553; longitude = -129.981330; duration = 407; initialDepth = 1709.900589; finalDepth = 1717.817624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3638490000001 # Actual altitude: 53.3638490000001 # Commanded vehicle depth: 1717.817624 # Seafloor depth: -1768.732638 # 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 12 # Segment length 103.375378 meters # Minimum depth: 1759.900589 meters looking forward 100.000000 meters along route # Maximum depth: 1767.836884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.900589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104755; longitude = -129.981977; duration = 413; initialDepth = 1701.437358; finalDepth = 1709.900589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2720879999999 # Actual altitude: 57.2720879999999 # Commanded vehicle depth: 1709.900589 # Seafloor depth: -1767.172677 # 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 12 # Segment length 100.273800 meters # Minimum depth: 1751.437358 meters looking forward 100.000000 meters along route # Maximum depth: 1759.707450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.437358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103945; longitude = -129.982634; duration = 401; initialDepth = 1701.038427; finalDepth = 1701.437358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2700920000002 # Actual altitude: 58.2700920000002 # Commanded vehicle depth: 1701.437358 # Seafloor depth: -1759.707450 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.825119 meters # Minimum depth: 1751.038427 meters looking forward 100.000000 meters along route # Maximum depth: 1756.455855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.038427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103159; longitude = -129.983272; duration = 407; initialDepth = 1705.903446; finalDepth = 1701.038427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2700920000002 # Actual altitude: 58.2700920000002 # Commanded vehicle depth: 1701.038427 # Seafloor depth: -1751.590381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.405687 meters # Minimum depth: 1755.903446 meters looking forward 100.000000 meters along route # Maximum depth: 1764.843591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.903446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102361; longitude = -129.983919; duration = 413; initialDepth = 1714.932118; finalDepth = 1705.903446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.551954 # Actual altitude: 50.551954 # Commanded vehicle depth: 1705.903446 # Seafloor depth: -1755.903446 # 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 12 # Segment length 100.245612 meters # Minimum depth: 1764.932118 meters looking forward 100.000000 meters along route # Maximum depth: 1772.522671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.932118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101550; longitude = -129.984576; duration = 400; initialDepth = 1720.666629; finalDepth = 1714.932118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.932118 # Seafloor depth: -1764.932118 # 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 12 # Segment length 101.826180 meters # Minimum depth: 1770.666629 meters looking forward 100.000000 meters along route # Maximum depth: 1773.121841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.666629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100764; longitude = -129.985213; duration = 407; initialDepth = 1722.976287; finalDepth = 1720.666629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2863579999998 # Actual altitude: 51.2863579999998 # Commanded vehicle depth: 1720.666629 # Seafloor depth: -1771.952987 # 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 12 # Segment length 103.435996 meters # Minimum depth: 1772.976287 meters looking forward 100.000000 meters along route # Maximum depth: 1777.752476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.976287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099966; longitude = -129.985861; duration = 413; initialDepth = 1721.225470; finalDepth = 1722.976287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2863579999998 # Actual altitude: 51.2863579999998 # Commanded vehicle depth: 1722.976287 # Seafloor depth: -1773.124800 # 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 12 # Segment length 100.217425 meters # Minimum depth: 1771.225470 meters looking forward 100.000000 meters along route # Maximum depth: 1776.742872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.225470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099155; longitude = -129.986518; duration = 400; initialDepth = 1720.286478; finalDepth = 1721.225470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0773859999999 # Actual altitude: 55.0773859999999 # Commanded vehicle depth: 1721.22547 # Seafloor depth: -1776.302856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.827240 meters # Minimum depth: 1770.286478 meters looking forward 100.000000 meters along route # Maximum depth: 1772.577991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.286478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098370; longitude = -129.987155; duration = 407; initialDepth = 1704.191061; finalDepth = 1720.286478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0773859999999 # Actual altitude: 55.0773859999999 # Commanded vehicle depth: 1720.286478 # Seafloor depth: -1771.207694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.466307 meters # Minimum depth: 1754.191061 meters looking forward 100.000000 meters along route # Maximum depth: 1769.489552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.191061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097572; longitude = -129.987802; duration = 413; initialDepth = 1698.715774; finalDepth = 1704.191061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.298491 # Actual altitude: 65.298491 # Commanded vehicle depth: 1704.191061 # Seafloor depth: -1769.489552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.189236 meters # Minimum depth: 1748.715774 meters looking forward 100.000000 meters along route # Maximum depth: 1753.866451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.715774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096761; longitude = -129.988460; duration = 400; initialDepth = 1699.138106; finalDepth = 1698.715774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.298491 # Actual altitude: 65.298491 # Commanded vehicle depth: 1698.715774 # Seafloor depth: -1753.866451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 101.828301 meters # Minimum depth: 1749.138106 meters looking forward 100.000000 meters along route # Maximum depth: 1750.601914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.138106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095975; longitude = -129.989097; duration = 407; initialDepth = 1701.149830; finalDepth = 1699.138106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1506770000001 # Actual altitude: 55.1506770000001 # Commanded vehicle depth: 1699.138106 # Seafloor depth: -1749.648925 # 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 12 # Segment length 103.496618 meters # Minimum depth: 1751.149830 meters looking forward 100.000000 meters along route # Maximum depth: 1758.947229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.149830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095177; longitude = -129.989744; duration = 413; initialDepth = 1698.106546; finalDepth = 1701.149830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5108189999999 # Actual altitude: 50.5108189999999 # Commanded vehicle depth: 1701.14983 # Seafloor depth: -1751.149830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.161046 meters # Minimum depth: 1748.106546 meters looking forward 100.000000 meters along route # Maximum depth: 1761.321317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.106546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094366; longitude = -129.990402; duration = 400; initialDepth = 1694.745692; finalDepth = 1698.106546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8886210000001 # Actual altitude: 60.8886210000001 # Commanded vehicle depth: 1698.106546 # Seafloor depth: -1758.995167 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.269239 meters # Minimum depth: 1744.745692 meters looking forward 100.000000 meters along route # Maximum depth: 1748.684992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.745692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093581; longitude = -129.991038; duration = 425; initialDepth = 1694.586836; finalDepth = 1694.745692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8886210000001 # Actual altitude: 60.8886210000001 # Commanded vehicle depth: 1694.745692 # Seafloor depth: -1748.318214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.123773 meters # Minimum depth: 1744.586836 meters looking forward 100.000000 meters along route # Maximum depth: 1765.766594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.586836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092748; longitude = -129.991714; duration = 420; initialDepth = 1714.904938; finalDepth = 1694.586836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.5725219999999 # Actual altitude: 53.5725219999999 # Commanded vehicle depth: 1694.586836 # Seafloor depth: -1744.586836 # 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; } # ####################################################### # # 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 149.991271 meters # Minimum depth: 1764.904938 meters looking forward 100.000000 meters along route # Maximum depth: 1784.109094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.904938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091924; longitude = -129.992382; duration = 599; # abortOnTimeout = True; initialDepth = 1717.529757; finalDepth = 1714.904938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.904938 # Seafloor depth: -1764.904938 # 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 10 # Segment length 171.774546 meters # Minimum depth: 1767.529757 meters looking forward 100.000000 meters along route # Maximum depth: 1783.774719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.529757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092587; longitude = -129.994072; duration = 687; # abortOnTimeout = True; initialDepth = 1713.513666; finalDepth = 1717.529757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.244962 # Actual altitude: 66.244962 # Commanded vehicle depth: 1717.529757 # Seafloor depth: -1783.774719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.814540 meters # Minimum depth: 1763.513666 meters looking forward 100.000000 meters along route # Maximum depth: 1772.573720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.513666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093933; longitude = -129.992980; duration = 407; initialDepth = 1703.084885; finalDepth = 1713.513666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.244962 # Actual altitude: 66.244962 # Commanded vehicle depth: 1713.513666 # Seafloor depth: -1769.135704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.024830 meters # Minimum depth: 1753.084885 meters looking forward 100.000000 meters along route # Maximum depth: 1763.545765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.084885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094731; longitude = -129.992333; duration = 408; initialDepth = 1703.451200; finalDepth = 1703.084885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4608800000001 # Actual altitude: 60.4608800000001 # Commanded vehicle depth: 1703.084885 # Seafloor depth: -1763.545765 # 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 10 # Segment length 101.603189 meters # Minimum depth: 1753.451200 meters looking forward 100.000000 meters along route # Maximum depth: 1754.981085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.451200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095531; longitude = -129.991684; duration = 406; initialDepth = 1703.318540; finalDepth = 1703.451200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4608800000001 # Actual altitude: 60.4608800000001 # Commanded vehicle depth: 1703.4512 # Seafloor depth: -1754.907934 # 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 10 # Segment length 101.813479 meters # Minimum depth: 1753.318540 meters looking forward 100.000000 meters along route # Maximum depth: 1757.653650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.318540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096327; longitude = -129.991038; duration = 407; initialDepth = 1707.813879; finalDepth = 1703.318540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4567340000001 # Actual altitude: 51.4567340000001 # Commanded vehicle depth: 1703.31854 # Seafloor depth: -1754.292036 # 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 10 # Segment length 102.109738 meters # Minimum depth: 1757.813879 meters looking forward 100.000000 meters along route # Maximum depth: 1763.971118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.813879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097125; longitude = -129.990391; duration = 408; initialDepth = 1713.713587; finalDepth = 1707.813879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9734960000001 # Actual altitude: 50.9734960000001 # Commanded vehicle depth: 1707.813879 # Seafloor depth: -1757.813879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516160 meters # Minimum depth: 1763.713587 meters looking forward 100.000000 meters along route # Maximum depth: 1773.168935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.713587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097926; longitude = -129.989742; duration = 406; initialDepth = 1721.329964; finalDepth = 1713.713587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2968150000002 # Actual altitude: 50.2968150000002 # Commanded vehicle depth: 1713.713587 # Seafloor depth: -1764.010402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.812418 meters # Minimum depth: 1771.329964 meters looking forward 100.000000 meters along route # Maximum depth: 1784.415607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.329964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098721; longitude = -129.989097; duration = 407; initialDepth = 1735.255787; finalDepth = 1721.329964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.235915 # Actual altitude: 51.235915 # Commanded vehicle depth: 1721.329964 # Seafloor depth: -1772.565879 # 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 10 # Segment length 102.194645 meters # Minimum depth: 1785.255787 meters looking forward 100.000000 meters along route # Maximum depth: 1788.980281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.255787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099519; longitude = -129.988450; duration = 408; initialDepth = 1733.463335; finalDepth = 1735.255787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.235915 # Actual altitude: 51.235915 # Commanded vehicle depth: 1735.255787 # Seafloor depth: -1785.255787 # 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 10 # Segment length 101.429131 meters # Minimum depth: 1783.463335 meters looking forward 100.000000 meters along route # Maximum depth: 1788.264742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.463335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100320; longitude = -129.987800; duration = 405; initialDepth = 1738.153712; finalDepth = 1733.463335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.682401 # Actual altitude: 54.682401 # Commanded vehicle depth: 1733.463335 # Seafloor depth: -1788.145736 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.811358 meters # Minimum depth: 1788.153712 meters looking forward 100.000000 meters along route # Maximum depth: 1802.388820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.153712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101115; longitude = -129.987155; duration = 407; initialDepth = 1719.715619; finalDepth = 1738.153712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.682401 # Actual altitude: 54.682401 # Commanded vehicle depth: 1738.153712 # Seafloor depth: -1788.308741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.279549 meters # Minimum depth: 1769.715619 meters looking forward 100.000000 meters along route # Maximum depth: 1795.879859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.715619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101913; longitude = -129.986508; duration = 409; initialDepth = 1716.037317; finalDepth = 1719.715619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1642399999998 # Actual altitude: 76.1642399999998 # Commanded vehicle depth: 1719.715619 # Seafloor depth: -1795.879859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.342105 meters # Minimum depth: 1766.037317 meters looking forward 100.000000 meters along route # Maximum depth: 1774.533245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.037317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102715; longitude = -129.985858; duration = 405; initialDepth = 1712.162886; finalDepth = 1716.037317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1642399999998 # Actual altitude: 76.1642399999998 # Commanded vehicle depth: 1716.037317 # Seafloor depth: -1770.030319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.810297 meters # Minimum depth: 1762.162886 meters looking forward 100.000000 meters along route # Maximum depth: 1766.448520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.162886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103509; longitude = -129.985213; duration = 407; initialDepth = 1714.650784; finalDepth = 1712.162886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2856339999998 # Actual altitude: 54.2856339999998 # Commanded vehicle depth: 1712.162886 # Seafloor depth: -1766.448520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.364452 meters # Minimum depth: 1764.650784 meters looking forward 100.000000 meters along route # Maximum depth: 1788.631797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.650784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104307; longitude = -129.984566; duration = 409; initialDepth = 1738.682606; finalDepth = 1714.650784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2856339999998 # Actual altitude: 54.2856339999998 # Commanded vehicle depth: 1714.650784 # Seafloor depth: -1764.650784 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.255081 meters # Minimum depth: 1788.682606 meters looking forward 100.000000 meters along route # Maximum depth: 1793.550403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.682606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105110; longitude = -129.983915; duration = 405; initialDepth = 1739.764966; finalDepth = 1738.682606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.682606 # Seafloor depth: -1788.682606 # 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 10 # Segment length 101.809236 meters # Minimum depth: 1789.764966 meters looking forward 100.000000 meters along route # Maximum depth: 1797.355327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.764966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105904; longitude = -129.983272; duration = 407; initialDepth = 1741.445528; finalDepth = 1739.764966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1739.764966 # Seafloor depth: -1789.764966 # 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 10 # Segment length 102.449353 meters # Minimum depth: 1791.445528 meters looking forward 100.000000 meters along route # Maximum depth: 1798.703893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.445528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106702; longitude = -129.982625; duration = 409; initialDepth = 1736.527697; finalDepth = 1741.445528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.16866 # Actual altitude: 54.16866 # Commanded vehicle depth: 1741.445528 # Seafloor depth: -1795.614188 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.168059 meters # Minimum depth: 1786.527697 meters looking forward 100.000000 meters along route # Maximum depth: 1808.266154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.527697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107505; longitude = -129.981973; duration = 404; initialDepth = 1735.696664; finalDepth = 1736.527697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1886649999999 # Actual altitude: 62.1886649999999 # Commanded vehicle depth: 1736.527697 # Seafloor depth: -1798.716362 # 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 10 # Segment length 101.808175 meters # Minimum depth: 1785.696664 meters looking forward 100.000000 meters along route # Maximum depth: 1796.942220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.696664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108298; longitude = -129.981330; duration = 407; initialDepth = 1744.468290; finalDepth = 1735.696664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1886649999999 # Actual altitude: 62.1886649999999 # Commanded vehicle depth: 1735.696664 # Seafloor depth: -1787.106750 # 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 10 # Segment length 102.534253 meters # Minimum depth: 1794.468290 meters looking forward 100.000000 meters along route # Maximum depth: 1807.130538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.468290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109096; longitude = -129.980683; duration = 410; initialDepth = 1757.195998; finalDepth = 1744.468290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4100859999999 # Actual altitude: 51.4100859999999 # Commanded vehicle depth: 1744.46829 # Seafloor depth: -1795.738886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.081037 meters # Minimum depth: 1807.195998 meters looking forward 100.000000 meters along route # Maximum depth: 1819.043245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.195998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109899; longitude = -129.980031; duration = 404; initialDepth = 1751.736542; finalDepth = 1757.195998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2705960000001 # Actual altitude: 51.2705960000001 # Commanded vehicle depth: 1757.195998 # Seafloor depth: -1807.195998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.807115 meters # Minimum depth: 1801.736542 meters looking forward 100.000000 meters along route # Maximum depth: 1815.817279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.736542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110692; longitude = -129.979388; duration = 407; initialDepth = 1748.643751; finalDepth = 1751.736542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.080737 # Actual altitude: 64.080737 # Commanded vehicle depth: 1751.736542 # Seafloor depth: -1815.817279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.619151 meters # Minimum depth: 1798.643751 meters looking forward 100.000000 meters along route # Maximum depth: 1801.663969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.643751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111490; longitude = -129.978741; duration = 410; initialDepth = 1747.036657; finalDepth = 1748.643751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.080737 # Actual altitude: 64.080737 # Commanded vehicle depth: 1748.643751 # Seafloor depth: -1801.413053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.994019 meters # Minimum depth: 1797.036657 meters looking forward 100.000000 meters along route # Maximum depth: 1807.451384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.036657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112294; longitude = -129.978089; duration = 403; initialDepth = 1754.686408; finalDepth = 1747.036657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7875899999999 # Actual altitude: 53.7875899999999 # Commanded vehicle depth: 1747.036657 # Seafloor depth: -1800.824247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.806054 meters # Minimum depth: 1804.686408 meters looking forward 100.000000 meters along route # Maximum depth: 1809.263699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.686408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113086; longitude = -129.977447; duration = 407; initialDepth = 1758.975317; finalDepth = 1754.686408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7875899999999 # Actual altitude: 53.7875899999999 # Commanded vehicle depth: 1754.686408 # Seafloor depth: -1807.397448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.704046 meters # Minimum depth: 1808.975317 meters looking forward 100.000000 meters along route # Maximum depth: 1814.206436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.975317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113884; longitude = -129.976800; duration = 410; initialDepth = 1753.185122; finalDepth = 1758.975317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7110399999999 # Actual altitude: 52.7110399999999 # Commanded vehicle depth: 1758.975317 # Seafloor depth: -1808.975317 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.907002 meters # Minimum depth: 1803.185122 meters looking forward 100.000000 meters along route # Maximum depth: 1810.299192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.185122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114689; longitude = -129.976147; duration = 403; initialDepth = 1742.281312; finalDepth = 1753.185122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0148029999998 # Actual altitude: 57.0148029999998 # Commanded vehicle depth: 1753.185122 # Seafloor depth: -1810.199925 # 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 10 # Segment length 101.804994 meters # Minimum depth: 1792.281312 meters looking forward 100.000000 meters along route # Maximum depth: 1804.720855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.281312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115480; longitude = -129.975505; duration = 407; initialDepth = 1722.982663; finalDepth = 1742.281312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.439543 # Actual altitude: 62.439543 # Commanded vehicle depth: 1742.281312 # Seafloor depth: -1804.720855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.788941 meters # Minimum depth: 1772.982663 meters looking forward 100.000000 meters along route # Maximum depth: 1792.207949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.982663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116278; longitude = -129.974858; duration = 411; initialDepth = 1717.903707; finalDepth = 1722.982663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.2252860000001 # Actual altitude: 69.2252860000001 # Commanded vehicle depth: 1722.982663 # Seafloor depth: -1792.207949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.819987 meters # Minimum depth: 1767.903707 meters looking forward 100.000000 meters along route # Maximum depth: 1773.703978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.903707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117083; longitude = -129.974204; duration = 403; initialDepth = 1717.451868; finalDepth = 1717.903707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.2252860000001 # Actual altitude: 69.2252860000001 # Commanded vehicle depth: 1717.903707 # Seafloor depth: -1773.458385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.803933 meters # Minimum depth: 1767.451868 meters looking forward 100.000000 meters along route # Maximum depth: 1770.030063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.451868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117874; longitude = -129.973564; duration = 407; initialDepth = 1719.360802; finalDepth = 1717.451868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.554678 # Actual altitude: 55.554678 # Commanded vehicle depth: 1717.451868 # Seafloor depth: -1769.739977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.873833 meters # Minimum depth: 1769.360802 meters looking forward 100.000000 meters along route # Maximum depth: 1772.685488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.360802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118672; longitude = -129.972916; duration = 411; initialDepth = 1717.694759; finalDepth = 1719.360802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2881089999998 # Actual altitude: 52.2881089999998 # Commanded vehicle depth: 1719.360802 # Seafloor depth: -1770.769867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.732974 meters # Minimum depth: 1767.694759 meters looking forward 100.000000 meters along route # Maximum depth: 1770.404164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.694759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119478; longitude = -129.972262; duration = 402; initialDepth = 1718.603218; finalDepth = 1717.694759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7094050000001 # Actual altitude: 52.7094050000001 # Commanded vehicle depth: 1717.694759 # Seafloor depth: -1770.404164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.802873 meters # Minimum depth: 1768.603218 meters looking forward 100.000000 meters along route # Maximum depth: 1770.628313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.603218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120268; longitude = -129.971622; duration = 407; initialDepth = 1717.851148; finalDepth = 1718.603218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7094050000001 # Actual altitude: 52.7094050000001 # Commanded vehicle depth: 1718.603218 # Seafloor depth: -1768.896855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.958724 meters # Minimum depth: 1767.851148 meters looking forward 100.000000 meters along route # Maximum depth: 1770.936708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.851148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121066; longitude = -129.970975; duration = 411; initialDepth = 1718.494020; finalDepth = 1717.851148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.867407 # Actual altitude: 52.867407 # Commanded vehicle depth: 1717.851148 # Seafloor depth: -1770.718555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.645962 meters # Minimum depth: 1768.494020 meters looking forward 100.000000 meters along route # Maximum depth: 1771.525319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.494020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121873; longitude = -129.970320; duration = 402; initialDepth = 1721.727289; finalDepth = 1718.494020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.867407 # Actual altitude: 52.867407 # Commanded vehicle depth: 1718.49402 # Seafloor depth: -1768.648568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.801813 meters # Minimum depth: 1771.727289 meters looking forward 100.000000 meters along route # Maximum depth: 1787.159021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.727289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122662; longitude = -129.969680; duration = 407; initialDepth = 1737.742510; finalDepth = 1721.727289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.154548 # Actual altitude: 50.154548 # Commanded vehicle depth: 1721.727289 # Seafloor depth: -1771.727289 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.043613 meters # Minimum depth: 1787.742510 meters looking forward 100.000000 meters along route # Maximum depth: 1821.842227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.742510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123460; longitude = -129.969033; duration = 412; initialDepth = 1771.041431; finalDepth = 1737.742510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1737.74251 # Seafloor depth: -1787.742510 # 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 10 # Segment length 100.558953 meters # Minimum depth: 1821.041431 meters looking forward 100.000000 meters along route # Maximum depth: 1826.001825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.041431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124268; longitude = -129.968378; duration = 402; initialDepth = 1770.263068; finalDepth = 1771.041431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.212908 # Actual altitude: 51.212908 # Commanded vehicle depth: 1771.041431 # Seafloor depth: -1822.254339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.800752 meters # Minimum depth: 1820.263068 meters looking forward 100.000000 meters along route # Maximum depth: 1826.025737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.263068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125056; longitude = -129.967739; duration = 407; initialDepth = 1770.991224; finalDepth = 1770.263068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.207429 # Actual altitude: 52.207429 # Commanded vehicle depth: 1770.263068 # Seafloor depth: -1822.470497 # 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 10 # Segment length 103.128500 meters # Minimum depth: 1820.991224 meters looking forward 100.000000 meters along route # Maximum depth: 1827.042290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.991224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125854; longitude = -129.967091; duration = 412; initialDepth = 1771.885543; finalDepth = 1770.991224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.207429 # Actual altitude: 52.207429 # Commanded vehicle depth: 1770.991224 # Seafloor depth: -1820.991224 # 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 10 # Segment length 100.471945 meters # Minimum depth: 1821.885543 meters looking forward 100.000000 meters along route # Maximum depth: 1827.913892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.885543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126662; longitude = -129.966436; duration = 401; initialDepth = 1773.982182; finalDepth = 1771.885543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8081679999998 # Actual altitude: 53.8081679999998 # Commanded vehicle depth: 1771.885543 # Seafloor depth: -1825.693711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.799693 meters # Minimum depth: 1823.982182 meters looking forward 100.000000 meters along route # Maximum depth: 1827.927854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.982182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127450; longitude = -129.965797; duration = 407; initialDepth = 1769.660792; finalDepth = 1773.982182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8081679999998 # Actual altitude: 53.8081679999998 # Commanded vehicle depth: 1773.982182 # Seafloor depth: -1826.185467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.213385 meters # Minimum depth: 1819.660792 meters looking forward 100.000000 meters along route # Maximum depth: 1824.451850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.660792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128248; longitude = -129.965150; duration = 412; initialDepth = 1771.771184; finalDepth = 1769.660792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7700280000001 # Actual altitude: 53.7700280000001 # Commanded vehicle depth: 1769.660792 # Seafloor depth: -1823.430820 # 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 10 # Segment length 100.384939 meters # Minimum depth: 1821.771184 meters looking forward 100.000000 meters along route # Maximum depth: 1827.980189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.771184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129057; longitude = -129.964493; duration = 401; initialDepth = 1766.314042; finalDepth = 1771.771184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7700280000001 # Actual altitude: 53.7700280000001 # Commanded vehicle depth: 1771.771184 # Seafloor depth: -1822.864013 # 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 10 # Segment length 101.798633 meters # Minimum depth: 1816.314042 meters looking forward 100.000000 meters along route # Maximum depth: 1824.539921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.314042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129844; longitude = -129.963855; duration = 407; initialDepth = 1760.672111; finalDepth = 1766.314042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.234684 # Actual altitude: 57.234684 # Commanded vehicle depth: 1766.314042 # Seafloor depth: -1823.548726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.665741 meters # Minimum depth: 1810.672111 meters looking forward 100.000000 meters along route # Maximum depth: 1817.761826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.672111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130642; longitude = -129.963208; duration = 402; initialDepth = 1757.554062; finalDepth = 1760.672111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.234684 # Actual altitude: 57.234684 # Commanded vehicle depth: 1760.672111 # Seafloor depth: -1817.761826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; 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 150.031483 meters # Minimum depth: 1807.554062 meters looking forward 100.000000 meters along route # Maximum depth: 1826.574494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.554062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131431; longitude = -129.962568; duration = 600; # abortOnTimeout = True; initialDepth = 1776.867371; finalDepth = 1757.554062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.0897149999998 # Actual altitude: 57.0897149999998 # Commanded vehicle depth: 1757.554062 # Seafloor depth: -1810.273407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.25; 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 170.636928 meters # Minimum depth: 1826.867371 meters looking forward 100.000000 meters along route # Maximum depth: 1844.727991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.867371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132095; longitude = -129.964259; duration = 682; # abortOnTimeout = True; initialDepth = 1787.602998; finalDepth = 1776.867371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.719345 # Actual altitude: 52.719345 # Commanded vehicle depth: 1776.867371 # Seafloor depth: -1826.867371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.803053 meters # Minimum depth: 1837.602998 meters looking forward 100.000000 meters along route # Maximum depth: 1844.483538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.602998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130757; longitude = -129.965344; duration = 407; initialDepth = 1789.689367; finalDepth = 1787.602998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1424969999998 # Actual altitude: 56.1424969999998 # Commanded vehicle depth: 1787.602998 # Seafloor depth: -1843.745495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.803407 meters # Minimum depth: 1839.689367 meters looking forward 100.000000 meters along route # Maximum depth: 1846.440577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.689367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129959; longitude = -129.965991; duration = 407; initialDepth = 1772.610848; finalDepth = 1789.689367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1424969999998 # Actual altitude: 56.1424969999998 # Commanded vehicle depth: 1789.689367 # Seafloor depth: -1839.912402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.803761 meters # Minimum depth: 1822.610848 meters looking forward 100.000000 meters along route # Maximum depth: 1853.010495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.610848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129161; longitude = -129.966638; duration = 407; initialDepth = 1757.185702; finalDepth = 1772.610848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.88618 # Actual altitude: 72.88618 # Commanded vehicle depth: 1772.610848 # Seafloor depth: -1845.497028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.804113 meters # Minimum depth: 1807.185702 meters looking forward 100.000000 meters along route # Maximum depth: 1818.263441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.185702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128363; longitude = -129.967285; duration = 407; initialDepth = 1758.498071; finalDepth = 1757.185702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.88618 # Actual altitude: 72.88618 # Commanded vehicle depth: 1757.185702 # Seafloor depth: -1818.263441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.804468 meters # Minimum depth: 1808.498071 meters looking forward 100.000000 meters along route # Maximum depth: 1848.609973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.498071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127565; longitude = -129.967933; duration = 407; initialDepth = 1781.929650; finalDepth = 1758.498071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0777390000001 # Actual altitude: 61.0777390000001 # Commanded vehicle depth: 1758.498071 # Seafloor depth: -1809.314880 # 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 8 # Segment length 101.804820 meters # Minimum depth: 1831.929650 meters looking forward 100.000000 meters along route # Maximum depth: 1845.217807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.929650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126767; longitude = -129.968580; duration = 407; initialDepth = 1775.676039; finalDepth = 1781.929650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.288157 # Actual altitude: 63.288157 # Commanded vehicle depth: 1781.92965 # Seafloor depth: -1845.217807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.805175 meters # Minimum depth: 1825.676039 meters looking forward 100.000000 meters along route # Maximum depth: 1833.423377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.676039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125969; longitude = -129.969227; duration = 407; initialDepth = 1752.867275; finalDepth = 1775.676039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.288157 # Actual altitude: 63.288157 # Commanded vehicle depth: 1775.676039 # Seafloor depth: -1832.906004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.805527 meters # Minimum depth: 1802.867275 meters looking forward 100.000000 meters along route # Maximum depth: 1825.666048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.867275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125171; longitude = -129.969874; duration = 407; initialDepth = 1740.978090; finalDepth = 1752.867275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.798773 # Actual altitude: 72.798773 # Commanded vehicle depth: 1752.867275 # Seafloor depth: -1825.666048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.805881 meters # Minimum depth: 1790.978090 meters looking forward 100.000000 meters along route # Maximum depth: 1802.266569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.978090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124373; longitude = -129.970522; duration = 407; initialDepth = 1725.891185; finalDepth = 1740.978090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.798773 # Actual altitude: 72.798773 # Commanded vehicle depth: 1740.97809 # Seafloor depth: -1802.266569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.806235 meters # Minimum depth: 1775.891185 meters looking forward 100.000000 meters along route # Maximum depth: 1789.935110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.891185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123575; longitude = -129.971169; duration = 407; initialDepth = 1718.451412; finalDepth = 1725.891185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0439249999999 # Actual altitude: 64.0439249999999 # Commanded vehicle depth: 1725.891185 # Seafloor depth: -1789.935110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.806587 meters # Minimum depth: 1768.451412 meters looking forward 100.000000 meters along route # Maximum depth: 1775.877310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.451412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122777; longitude = -129.971816; duration = 407; initialDepth = 1717.006684; finalDepth = 1718.451412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0439249999999 # Actual altitude: 64.0439249999999 # Commanded vehicle depth: 1718.451412 # Seafloor depth: -1775.845528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.806942 meters # Minimum depth: 1767.006684 meters looking forward 100.000000 meters along route # Maximum depth: 1770.020898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.006684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121979; longitude = -129.972463; duration = 407; initialDepth = 1717.795699; finalDepth = 1717.006684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3941160000002 # Actual altitude: 57.3941160000002 # Commanded vehicle depth: 1717.006684 # Seafloor depth: -1768.957056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.807295 meters # Minimum depth: 1767.795699 meters looking forward 100.000000 meters along route # Maximum depth: 1769.180969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.795699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121181; longitude = -129.973110; duration = 407; initialDepth = 1716.804517; finalDepth = 1717.795699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.950372 # Actual altitude: 51.950372 # Commanded vehicle depth: 1717.795699 # Seafloor depth: -1768.957643 # 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 8 # Segment length 101.807648 meters # Minimum depth: 1766.804517 meters looking forward 100.000000 meters along route # Maximum depth: 1768.591064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.804517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120383; longitude = -129.973758; duration = 407; initialDepth = 1717.417628; finalDepth = 1716.804517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2028459999999 # Actual altitude: 51.2028459999999 # Commanded vehicle depth: 1716.804517 # Seafloor depth: -1768.007363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.808002 meters # Minimum depth: 1767.417628 meters looking forward 100.000000 meters along route # Maximum depth: 1770.012351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.417628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119585; longitude = -129.974405; duration = 407; initialDepth = 1716.863421; finalDepth = 1717.417628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2028459999999 # Actual altitude: 51.2028459999999 # Commanded vehicle depth: 1717.417628 # Seafloor depth: -1768.359974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.808355 meters # Minimum depth: 1766.863421 meters looking forward 100.000000 meters along route # Maximum depth: 1771.508715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.863421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118786; longitude = -129.975052; duration = 407; initialDepth = 1721.538951; finalDepth = 1716.863421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.784392 # Actual altitude: 51.784392 # Commanded vehicle depth: 1716.863421 # Seafloor depth: -1768.647813 # 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 8 # Segment length 101.808709 meters # Minimum depth: 1771.538951 meters looking forward 100.000000 meters along route # Maximum depth: 1802.565027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.538951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117988; longitude = -129.975699; duration = 407; initialDepth = 1753.001961; finalDepth = 1721.538951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.784392 # Actual altitude: 51.784392 # Commanded vehicle depth: 1721.538951 # Seafloor depth: -1771.538951 # 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 8 # Segment length 101.809062 meters # Minimum depth: 1803.001961 meters looking forward 100.000000 meters along route # Maximum depth: 1809.075282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.001961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117190; longitude = -129.976347; duration = 407; initialDepth = 1757.424935; finalDepth = 1753.001961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1753.001961 # Seafloor depth: -1803.001961 # 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 8 # Segment length 101.809416 meters # Minimum depth: 1807.424935 meters looking forward 100.000000 meters along route # Maximum depth: 1813.655729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.424935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116392; longitude = -129.976994; duration = 407; initialDepth = 1760.968297; finalDepth = 1757.424935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.121157 # Actual altitude: 51.121157 # Commanded vehicle depth: 1757.424935 # Seafloor depth: -1808.546092 # 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 8 # Segment length 101.809769 meters # Minimum depth: 1810.968297 meters looking forward 100.000000 meters along route # Maximum depth: 1817.074519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.968297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115594; longitude = -129.977641; duration = 407; initialDepth = 1765.482788; finalDepth = 1760.968297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6831090000001 # Actual altitude: 52.6831090000001 # Commanded vehicle depth: 1760.968297 # Seafloor depth: -1813.651406 # 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 8 # Segment length 101.810123 meters # Minimum depth: 1815.482788 meters looking forward 100.000000 meters along route # Maximum depth: 1830.742422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.482788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114796; longitude = -129.978288; duration = 407; initialDepth = 1775.591632; finalDepth = 1765.482788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6831090000001 # Actual altitude: 52.6831090000001 # Commanded vehicle depth: 1765.482788 # Seafloor depth: -1815.482788 # 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 8 # Segment length 101.810476 meters # Minimum depth: 1825.591632 meters looking forward 100.000000 meters along route # Maximum depth: 1832.354562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.591632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113998; longitude = -129.978935; duration = 407; initialDepth = 1777.176029; finalDepth = 1775.591632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2992980000001 # Actual altitude: 55.2992980000001 # Commanded vehicle depth: 1775.591632 # Seafloor depth: -1830.890930 # 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 8 # Segment length 101.810830 meters # Minimum depth: 1827.176029 meters looking forward 100.000000 meters along route # Maximum depth: 1833.034288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.176029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113200; longitude = -129.979583; duration = 407; initialDepth = 1772.722791; finalDepth = 1777.176029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2992980000001 # Actual altitude: 55.2992980000001 # Commanded vehicle depth: 1777.176029 # Seafloor depth: -1830.810253 # 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 8 # Segment length 101.811183 meters # Minimum depth: 1822.722791 meters looking forward 100.000000 meters along route # Maximum depth: 1827.977150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.722791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112402; longitude = -129.980230; duration = 407; initialDepth = 1773.373985; finalDepth = 1772.722791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6342240000001 # Actual altitude: 53.6342240000001 # Commanded vehicle depth: 1772.722791 # Seafloor depth: -1825.871653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.879165 meters # Minimum depth: 1823.373985 meters looking forward 100.000000 meters along route # Maximum depth: 1830.989233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.373985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111604; longitude = -129.980877; duration = 407; initialDepth = 1764.920406; finalDepth = 1773.373985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.022909 # Actual altitude: 54.022909 # Commanded vehicle depth: 1773.373985 # Seafloor depth: -1827.396894 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.744263 meters # Minimum depth: 1814.920406 meters looking forward 100.000000 meters along route # Maximum depth: 1826.416469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.920406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110805; longitude = -129.981525; duration = 406; initialDepth = 1755.934842; finalDepth = 1764.920406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.496063 # Actual altitude: 61.496063 # Commanded vehicle depth: 1764.920406 # Seafloor depth: -1826.416469 # 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 8 # Segment length 101.812244 meters # Minimum depth: 1805.934842 meters looking forward 100.000000 meters along route # Maximum depth: 1818.551254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.934842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110008; longitude = -129.982172; duration = 407; initialDepth = 1757.161033; finalDepth = 1755.934842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.496063 # Actual altitude: 61.496063 # Commanded vehicle depth: 1755.934842 # Seafloor depth: -1814.005790 # 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 8 # Segment length 101.948634 meters # Minimum depth: 1807.161033 meters looking forward 100.000000 meters along route # Maximum depth: 1816.572236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.161033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109210; longitude = -129.982819; duration = 407; initialDepth = 1741.940533; finalDepth = 1757.161033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.070948 # Actual altitude: 58.070948 # Commanded vehicle depth: 1757.161033 # Seafloor depth: -1813.231546 # 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 8 # Segment length 101.676914 meters # Minimum depth: 1791.940533 meters looking forward 100.000000 meters along route # Maximum depth: 1817.221315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.940533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108411; longitude = -129.983467; duration = 406; initialDepth = 1723.135583; finalDepth = 1741.940533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9518350000001 # Actual altitude: 72.9518350000001 # Commanded vehicle depth: 1741.940533 # Seafloor depth: -1814.892368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.813305 meters # Minimum depth: 1773.135583 meters looking forward 100.000000 meters along route # Maximum depth: 1793.426670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.135583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107614; longitude = -129.984113; duration = 407; initialDepth = 1718.275953; finalDepth = 1723.135583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9518350000001 # Actual altitude: 72.9518350000001 # Commanded vehicle depth: 1723.135583 # Seafloor depth: -1792.019749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.018105 meters # Minimum depth: 1768.275953 meters looking forward 100.000000 meters along route # Maximum depth: 1779.610879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.275953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106816; longitude = -129.984760; duration = 408; initialDepth = 1717.525928; finalDepth = 1718.275953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.8841660000001 # Actual altitude: 68.8841660000001 # Commanded vehicle depth: 1718.275953 # Seafloor depth: -1773.181118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.609565 meters # Minimum depth: 1767.525928 meters looking forward 100.000000 meters along route # Maximum depth: 1773.369811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.525928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106016; longitude = -129.985409; duration = 406; initialDepth = 1713.953460; finalDepth = 1717.525928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9051649999999 # Actual altitude: 54.9051649999999 # Commanded vehicle depth: 1717.525928 # Seafloor depth: -1768.254925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.814365 meters # Minimum depth: 1763.953460 meters looking forward 100.000000 meters along route # Maximum depth: 1772.666619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.953460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105220; longitude = -129.986055; duration = 407; initialDepth = 1712.087721; finalDepth = 1713.953460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.538959 # Actual altitude: 57.538959 # Commanded vehicle depth: 1713.95346 # Seafloor depth: -1771.492419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.087578 meters # Minimum depth: 1762.087721 meters looking forward 100.000000 meters along route # Maximum depth: 1788.680906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.087721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104421; longitude = -129.986702; duration = 408; initialDepth = 1738.960647; finalDepth = 1712.087721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.538959 # Actual altitude: 57.538959 # Commanded vehicle depth: 1712.087721 # Seafloor depth: -1764.381969 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.542214 meters # Minimum depth: 1788.960647 meters looking forward 100.000000 meters along route # Maximum depth: 1791.899586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.960647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103621; longitude = -129.987351; duration = 406; initialDepth = 1739.881578; finalDepth = 1738.960647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2942479999999 # Actual altitude: 52.2942479999999 # Commanded vehicle depth: 1738.960647 # Seafloor depth: -1788.960647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.815426 meters # Minimum depth: 1789.881578 meters looking forward 100.000000 meters along route # Maximum depth: 1800.544071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.881578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102825; longitude = -129.987996; duration = 407; initialDepth = 1747.493101; finalDepth = 1739.881578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.039847 # Actual altitude: 51.039847 # Commanded vehicle depth: 1739.881578 # Seafloor depth: -1790.921425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.157052 meters # Minimum depth: 1797.493101 meters looking forward 100.000000 meters along route # Maximum depth: 1803.576109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.493101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102027; longitude = -129.988644; duration = 408; initialDepth = 1737.201079; finalDepth = 1747.493101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3489079999999 # Actual altitude: 51.3489079999999 # Commanded vehicle depth: 1747.493101 # Seafloor depth: -1798.842009 # 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 8 # Segment length 101.474862 meters # Minimum depth: 1787.201079 meters looking forward 100.000000 meters along route # Maximum depth: 1797.419804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.201079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101227; longitude = -129.989293; duration = 405; initialDepth = 1734.712266; finalDepth = 1737.201079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2187250000002 # Actual altitude: 60.2187250000002 # Commanded vehicle depth: 1737.201079 # Seafloor depth: -1797.419804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.816487 meters # Minimum depth: 1784.712266 meters looking forward 100.000000 meters along route # Maximum depth: 1787.068876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.712266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100431; longitude = -129.989938; duration = 407; initialDepth = 1710.264779; finalDepth = 1734.712266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2187250000002 # Actual altitude: 60.2187250000002 # Commanded vehicle depth: 1734.712266 # Seafloor depth: -1787.005103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.226527 meters # Minimum depth: 1760.264779 meters looking forward 100.000000 meters along route # Maximum depth: 1785.065730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.264779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099633; longitude = -129.990585; duration = 408; initialDepth = 1705.198020; finalDepth = 1710.264779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8009509999999 # Actual altitude: 74.8009509999999 # Commanded vehicle depth: 1710.264779 # Seafloor depth: -1785.065730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.407508 meters # Minimum depth: 1755.198020 meters looking forward 100.000000 meters along route # Maximum depth: 1760.066331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.198020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098832; longitude = -129.991235; duration = 405; initialDepth = 1706.237961; finalDepth = 1705.198020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8009509999999 # Actual altitude: 74.8009509999999 # Commanded vehicle depth: 1705.19802 # Seafloor depth: -1760.066331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.817548 meters # Minimum depth: 1756.237961 meters looking forward 100.000000 meters along route # Maximum depth: 1760.119368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.237961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098037; longitude = -129.991880; duration = 407; initialDepth = 1707.980664; finalDepth = 1706.237961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8683109999999 # Actual altitude: 54.8683109999999 # Commanded vehicle depth: 1706.237961 # Seafloor depth: -1756.261500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.296004 meters # Minimum depth: 1757.980664 meters looking forward 100.000000 meters along route # Maximum depth: 1760.229978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.980664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097239; longitude = -129.992527; duration = 409; initialDepth = 1707.931665; finalDepth = 1707.980664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8930030000001 # Actual altitude: 50.8930030000001 # Commanded vehicle depth: 1707.980664 # Seafloor depth: -1758.873667 # 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 8 # Segment length 101.340153 meters # Minimum depth: 1757.931665 meters looking forward 100.000000 meters along route # Maximum depth: 1774.917345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.931665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096437; longitude = -129.993177; duration = 405; initialDepth = 1726.531149; finalDepth = 1707.931665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8930030000001 # Actual altitude: 50.8930030000001 # Commanded vehicle depth: 1707.931665 # Seafloor depth: -1757.931665 # 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 8 # Segment length 101.818609 meters # Minimum depth: 1776.531149 meters looking forward 100.000000 meters along route # Maximum depth: 1784.583645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.531149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095643; longitude = -129.993821; duration = 407; initialDepth = 1731.978838; finalDepth = 1726.531149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1726.531149 # Seafloor depth: -1776.531149 # 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 8 # Segment length 102.365482 meters # Minimum depth: 1781.978838 meters looking forward 100.000000 meters along route # Maximum depth: 1784.834746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.978838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094845; longitude = -129.994469; duration = 409; initialDepth = 1729.170032; finalDepth = 1731.978838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4377890000001 # Actual altitude: 52.4377890000001 # Commanded vehicle depth: 1731.978838 # Seafloor depth: -1784.416627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.099529 meters # Minimum depth: 1779.170032 meters looking forward 100.000000 meters along route # Maximum depth: 1785.545519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.170032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094042; longitude = -129.995119; duration = 404; initialDepth = 1723.934563; finalDepth = 1729.170032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.086417 # Actual altitude: 54.086417 # Commanded vehicle depth: 1729.170032 # Seafloor depth: -1783.256449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; 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 150.055969 meters # Minimum depth: 1773.934563 meters looking forward 100.000000 meters along route # Maximum depth: 1786.688660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.934563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093250; longitude = -129.995762; duration = 600; # abortOnTimeout = True; initialDepth = 1724.656525; finalDepth = 1723.934563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.754097 # Actual altitude: 62.754097 # Commanded vehicle depth: 1723.934563 # Seafloor depth: -1786.688660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.65; 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 133.341635 meters # Minimum depth: 1774.656525 meters looking forward 100.000000 meters along route # Maximum depth: 1780.763337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.656525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093913; longitude = -129.997453; duration = 533; # abortOnTimeout = True; initialDepth = 1726.233118; finalDepth = 1724.656525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.754097 # Actual altitude: 62.754097 # Commanded vehicle depth: 1724.656525 # Seafloor depth: -1774.656525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.708083 meters # Minimum depth: 1776.233118 meters looking forward 100.000000 meters along route # Maximum depth: 1781.133675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.233118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094958; longitude = -129.996604; duration = 406; initialDepth = 1724.141802; finalDepth = 1726.233118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.157874 # Actual altitude: 54.157874 # Commanded vehicle depth: 1726.233118 # Seafloor depth: -1780.390992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.707728 meters # Minimum depth: 1774.141802 meters looking forward 100.000000 meters along route # Maximum depth: 1776.864640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.141802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095755; longitude = -129.995957; duration = 406; initialDepth = 1724.151371; finalDepth = 1724.141802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.157874 # Actual altitude: 54.157874 # Commanded vehicle depth: 1724.141802 # Seafloor depth: -1775.797403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.707376 meters # Minimum depth: 1774.151371 meters looking forward 100.000000 meters along route # Maximum depth: 1776.638413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.151371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096552; longitude = -129.995310; duration = 406; initialDepth = 1722.696494; finalDepth = 1724.151371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6556009999999 # Actual altitude: 51.6556009999999 # Commanded vehicle depth: 1724.151371 # Seafloor depth: -1774.539323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.707021 meters # Minimum depth: 1772.696494 meters looking forward 100.000000 meters along route # Maximum depth: 1774.803193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.696494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097349; longitude = -129.994663; duration = 406; initialDepth = 1723.765315; finalDepth = 1722.696494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1066989999999 # Actual altitude: 52.1066989999999 # Commanded vehicle depth: 1722.696494 # Seafloor depth: -1774.803193 # 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 6 # Segment length 101.706668 meters # Minimum depth: 1773.765315 meters looking forward 100.000000 meters along route # Maximum depth: 1779.939076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.765315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098145; longitude = -129.994016; duration = 406; initialDepth = 1730.244278; finalDepth = 1723.765315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1066989999999 # Actual altitude: 52.1066989999999 # Commanded vehicle depth: 1723.765315 # Seafloor depth: -1773.765315 # 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 6 # Segment length 101.706315 meters # Minimum depth: 1780.244278 meters looking forward 100.000000 meters along route # Maximum depth: 1782.831972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.244278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098942; longitude = -129.993368; duration = 406; initialDepth = 1731.110665; finalDepth = 1730.244278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6476280000002 # Actual altitude: 50.6476280000002 # Commanded vehicle depth: 1730.244278 # Seafloor depth: -1780.891906 # 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 6 # Segment length 101.705961 meters # Minimum depth: 1781.110665 meters looking forward 100.000000 meters along route # Maximum depth: 1782.993457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.110665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099739; longitude = -129.992721; duration = 406; initialDepth = 1731.025922; finalDepth = 1731.110665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1498670000001 # Actual altitude: 51.1498670000001 # Commanded vehicle depth: 1731.110665 # Seafloor depth: -1782.260532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.705607 meters # Minimum depth: 1781.025922 meters looking forward 100.000000 meters along route # Maximum depth: 1782.716427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.025922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100536; longitude = -129.992074; duration = 406; initialDepth = 1727.767544; finalDepth = 1731.025922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1498670000001 # Actual altitude: 51.1498670000001 # Commanded vehicle depth: 1731.025922 # Seafloor depth: -1781.666745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.042063 meters # Minimum depth: 1777.767544 meters looking forward 100.000000 meters along route # Maximum depth: 1783.659265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.767544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101333; longitude = -129.991427; duration = 408; initialDepth = 1724.161140; finalDepth = 1727.767544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8144219999999 # Actual altitude: 53.8144219999999 # Commanded vehicle depth: 1727.767544 # Seafloor depth: -1781.581966 # 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 6 # Segment length 101.368091 meters # Minimum depth: 1774.161140 meters looking forward 100.000000 meters along route # Maximum depth: 1787.767139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.161140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102133; longitude = -129.990777; duration = 405; initialDepth = 1725.073608; finalDepth = 1724.161140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8144219999999 # Actual altitude: 53.8144219999999 # Commanded vehicle depth: 1724.16114 # Seafloor depth: -1777.738687 # 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 6 # Segment length 101.704547 meters # Minimum depth: 1775.073608 meters looking forward 100.000000 meters along route # Maximum depth: 1784.013112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.073608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102927; longitude = -129.990132; duration = 406; initialDepth = 1717.351015; finalDepth = 1725.073608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9395040000002 # Actual altitude: 58.9395040000002 # Commanded vehicle depth: 1725.073608 # Seafloor depth: -1784.013112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.546709 meters # Minimum depth: 1767.351015 meters looking forward 100.000000 meters along route # Maximum depth: 1774.866692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.351015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103724; longitude = -129.989485; duration = 410; initialDepth = 1716.376118; finalDepth = 1717.351015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9395040000002 # Actual altitude: 58.9395040000002 # Commanded vehicle depth: 1717.351015 # Seafloor depth: -1774.866692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.861324 meters # Minimum depth: 1766.376118 meters looking forward 100.000000 meters along route # Maximum depth: 1772.979041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.376118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104527; longitude = -129.988833; duration = 403; initialDepth = 1711.418685; finalDepth = 1716.376118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5156770000001 # Actual altitude: 57.5156770000001 # Commanded vehicle depth: 1716.376118 # Seafloor depth: -1767.987322 # 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 6 # Segment length 101.703486 meters # Minimum depth: 1761.418685 meters looking forward 100.000000 meters along route # Maximum depth: 1768.176547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.418685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105318; longitude = -129.988191; duration = 406; initialDepth = 1709.272701; finalDepth = 1711.418685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8071909999999 # Actual altitude: 55.8071909999999 # Commanded vehicle depth: 1711.418685 # Seafloor depth: -1767.225876 # 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 6 # Segment length 103.051345 meters # Minimum depth: 1759.272701 meters looking forward 100.000000 meters along route # Maximum depth: 1771.774349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.272701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106115; longitude = -129.987543; duration = 412; initialDepth = 1717.758740; finalDepth = 1709.272701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6911349999998 # Actual altitude: 59.6911349999998 # Commanded vehicle depth: 1709.272701 # Seafloor depth: -1768.963836 # 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 6 # Segment length 100.354567 meters # Minimum depth: 1767.758740 meters looking forward 100.000000 meters along route # Maximum depth: 1789.293315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.758740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106922; longitude = -129.986888; duration = 401; initialDepth = 1735.848343; finalDepth = 1717.758740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6911349999998 # Actual altitude: 59.6911349999998 # Commanded vehicle depth: 1717.75874 # Seafloor depth: -1767.758740 # 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 6 # Segment length 101.702426 meters # Minimum depth: 1785.848343 meters looking forward 100.000000 meters along route # Maximum depth: 1791.578789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.848343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107708; longitude = -129.986249; duration = 406; initialDepth = 1738.051122; finalDepth = 1735.848343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7978679999999 # Actual altitude: 50.7978679999999 # Commanded vehicle depth: 1735.848343 # Seafloor depth: -1786.646211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.702072 meters # Minimum depth: 1788.051122 meters looking forward 100.000000 meters along route # Maximum depth: 1794.220256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.051122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108505; longitude = -129.985602; duration = 406; initialDepth = 1742.764032; finalDepth = 1738.051122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.606751 # Actual altitude: 51.606751 # Commanded vehicle depth: 1738.051122 # Seafloor depth: -1789.657873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.701719 meters # Minimum depth: 1792.764032 meters looking forward 100.000000 meters along route # Maximum depth: 1815.874678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.764032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109302; longitude = -129.984955; duration = 406; initialDepth = 1764.094330; finalDepth = 1742.764032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.606751 # Actual altitude: 51.606751 # Commanded vehicle depth: 1742.764032 # Seafloor depth: -1793.301989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.701365 meters # Minimum depth: 1814.094330 meters looking forward 100.000000 meters along route # Maximum depth: 1818.182618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.094330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110099; longitude = -129.984307; duration = 406; initialDepth = 1761.409188; finalDepth = 1764.094330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7001050000001 # Actual altitude: 51.7001050000001 # Commanded vehicle depth: 1764.09433 # Seafloor depth: -1815.794435 # 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 6 # Segment length 101.701012 meters # Minimum depth: 1811.409188 meters looking forward 100.000000 meters along route # Maximum depth: 1814.086400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.409188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110896; longitude = -129.983660; duration = 406; initialDepth = 1760.351778; finalDepth = 1761.409188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.406254 # Actual altitude: 52.406254 # Commanded vehicle depth: 1761.409188 # Seafloor depth: -1813.815442 # 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 6 # Segment length 101.700658 meters # Minimum depth: 1810.351778 meters looking forward 100.000000 meters along route # Maximum depth: 1814.911689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.351778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111693; longitude = -129.983013; duration = 406; initialDepth = 1761.637544; finalDepth = 1760.351778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.85058 # Actual altitude: 53.85058 # Commanded vehicle depth: 1760.351778 # Seafloor depth: -1814.202358 # 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 6 # Segment length 101.700305 meters # Minimum depth: 1811.637544 meters looking forward 100.000000 meters along route # Maximum depth: 1815.349643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.637544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112490; longitude = -129.982366; duration = 406; initialDepth = 1761.321533; finalDepth = 1761.637544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.85058 # Actual altitude: 53.85058 # Commanded vehicle depth: 1761.637544 # Seafloor depth: -1811.637544 # 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 6 # Segment length 101.699951 meters # Minimum depth: 1811.321533 meters looking forward 100.000000 meters along route # Maximum depth: 1815.309808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.321533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113287; longitude = -129.981718; duration = 406; initialDepth = 1754.971506; finalDepth = 1761.321533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7774669999999 # Actual altitude: 53.7774669999999 # Commanded vehicle depth: 1761.321533 # Seafloor depth: -1815.099000 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.980201 meters # Minimum depth: 1804.971506 meters looking forward 100.000000 meters along route # Maximum depth: 1810.694967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.971506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114084; longitude = -129.981071; duration = 407; initialDepth = 1754.213049; finalDepth = 1754.971506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7234609999998 # Actual altitude: 55.7234609999998 # Commanded vehicle depth: 1754.971506 # Seafloor depth: -1810.694967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.418642 meters # Minimum depth: 1804.213049 meters looking forward 100.000000 meters along route # Maximum depth: 1807.505114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.213049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114883; longitude = -129.980422; duration = 405; initialDepth = 1750.047085; finalDepth = 1754.213049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7234609999998 # Actual altitude: 55.7234609999998 # Commanded vehicle depth: 1754.213049 # Seafloor depth: -1807.031007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.698891 meters # Minimum depth: 1800.047085 meters looking forward 100.000000 meters along route # Maximum depth: 1805.405579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.047085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115678; longitude = -129.979777; duration = 406; initialDepth = 1748.727992; finalDepth = 1750.047085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.158629 # Actual altitude: 55.158629 # Commanded vehicle depth: 1750.047085 # Seafloor depth: -1805.205714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.484820 meters # Minimum depth: 1798.727992 meters looking forward 100.000000 meters along route # Maximum depth: 1809.071456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.727992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116474; longitude = -129.979130; duration = 409; initialDepth = 1748.835539; finalDepth = 1748.727992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.158629 # Actual altitude: 55.158629 # Commanded vehicle depth: 1748.727992 # Seafloor depth: -1800.354052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.911902 meters # Minimum depth: 1798.835539 meters looking forward 100.000000 meters along route # Maximum depth: 1809.137180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.835539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117278; longitude = -129.978477; duration = 403; initialDepth = 1744.503903; finalDepth = 1748.835539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.301641 # Actual altitude: 60.301641 # Commanded vehicle depth: 1748.835539 # Seafloor depth: -1809.137180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.697831 meters # Minimum depth: 1794.503903 meters looking forward 100.000000 meters along route # Maximum depth: 1800.785295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.503903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118068; longitude = -129.977835; duration = 406; initialDepth = 1734.600971; finalDepth = 1744.503903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.301641 # Actual altitude: 60.301641 # Commanded vehicle depth: 1744.503903 # Seafloor depth: -1800.025293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.989429 meters # Minimum depth: 1784.600971 meters looking forward 100.000000 meters along route # Maximum depth: 1793.434302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.600971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118865; longitude = -129.977188; duration = 411; initialDepth = 1729.197887; finalDepth = 1734.600971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8333309999998 # Actual altitude: 58.8333309999998 # Commanded vehicle depth: 1734.600971 # Seafloor depth: -1793.434302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.405173 meters # Minimum depth: 1779.197887 meters looking forward 100.000000 meters along route # Maximum depth: 1785.002791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.197887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119672; longitude = -129.976532; duration = 401; initialDepth = 1726.143313; finalDepth = 1729.197887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8333309999998 # Actual altitude: 58.8333309999998 # Commanded vehicle depth: 1729.197887 # Seafloor depth: -1784.682259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.696770 meters # Minimum depth: 1776.143313 meters looking forward 100.000000 meters along route # Maximum depth: 1779.608962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.143313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120459; longitude = -129.975893; duration = 406; initialDepth = 1726.494093; finalDepth = 1726.143313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4843719999999 # Actual altitude: 55.4843719999999 # Commanded vehicle depth: 1726.143313 # Seafloor depth: -1779.277451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.696418 meters # Minimum depth: 1776.494093 meters looking forward 100.000000 meters along route # Maximum depth: 1781.518158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.494093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121256; longitude = -129.975246; duration = 406; initialDepth = 1731.379046; finalDepth = 1726.494093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1341379999999 # Actual altitude: 53.1341379999999 # Commanded vehicle depth: 1726.494093 # Seafloor depth: -1776.494323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.696063 meters # Minimum depth: 1781.379046 meters looking forward 100.000000 meters along route # Maximum depth: 1794.492392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.379046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122053; longitude = -129.974599; duration = 406; initialDepth = 1744.533873; finalDepth = 1731.379046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0215860000001 # Actual altitude: 53.0215860000001 # Commanded vehicle depth: 1731.379046 # Seafloor depth: -1784.400632 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.695711 meters # Minimum depth: 1794.533873 meters looking forward 100.000000 meters along route # Maximum depth: 1800.261166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.533873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122850; longitude = -129.973952; duration = 406; initialDepth = 1749.748533; finalDepth = 1744.533873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0215860000001 # Actual altitude: 53.0215860000001 # Commanded vehicle depth: 1744.533873 # Seafloor depth: -1794.533873 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.695357 meters # Minimum depth: 1799.748533 meters looking forward 100.000000 meters along route # Maximum depth: 1812.742852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.748533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123647; longitude = -129.973305; duration = 406; initialDepth = 1763.724799; finalDepth = 1749.748533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.280526 # Actual altitude: 50.280526 # Commanded vehicle depth: 1749.748533 # Seafloor depth: -1800.029059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.695004 meters # Minimum depth: 1813.724799 meters looking forward 100.000000 meters along route # Maximum depth: 1827.349936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.724799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124444; longitude = -129.972657; duration = 406; initialDepth = 1777.039266; finalDepth = 1763.724799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.280526 # Actual altitude: 50.280526 # Commanded vehicle depth: 1763.724799 # Seafloor depth: -1813.751838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.694650 meters # Minimum depth: 1827.039266 meters looking forward 100.000000 meters along route # Maximum depth: 1846.860002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.039266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125241; longitude = -129.972010; duration = 406; initialDepth = 1795.443173; finalDepth = 1777.039266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.329894 # Actual altitude: 50.329894 # Commanded vehicle depth: 1777.039266 # Seafloor depth: -1827.369160 # 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 6 # Segment length 101.694297 meters # Minimum depth: 1845.443173 meters looking forward 100.000000 meters along route # Maximum depth: 1851.462357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.443173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126037; longitude = -129.971363; duration = 406; initialDepth = 1802.321995; finalDepth = 1795.443173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.329894 # Actual altitude: 50.329894 # Commanded vehicle depth: 1795.443173 # Seafloor depth: -1845.443173 # 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 6 # Segment length 101.918347 meters # Minimum depth: 1852.321995 meters looking forward 100.000000 meters along route # Maximum depth: 1855.410366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.321995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126834; longitude = -129.970716; duration = 407; initialDepth = 1805.017001; finalDepth = 1802.321995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3276539999999 # Actual altitude: 50.3276539999999 # Commanded vehicle depth: 1802.321995 # Seafloor depth: -1852.649649 # 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 6 # Segment length 101.469188 meters # Minimum depth: 1855.017001 meters looking forward 100.000000 meters along route # Maximum depth: 1862.788971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.017001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127633; longitude = -129.970067; duration = 405; initialDepth = 1807.946967; finalDepth = 1805.017001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.46615 # Actual altitude: 50.46615 # Commanded vehicle depth: 1805.017001 # Seafloor depth: -1855.483151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.693237 meters # Minimum depth: 1857.946967 meters looking forward 100.000000 meters along route # Maximum depth: 1864.366733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.946967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128428; longitude = -129.969421; duration = 406; initialDepth = 1807.504133; finalDepth = 1807.946967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8672669999999 # Actual altitude: 54.8672669999999 # Commanded vehicle depth: 1807.946967 # Seafloor depth: -1862.814234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.422938 meters # Minimum depth: 1857.504133 meters looking forward 100.000000 meters along route # Maximum depth: 1865.158065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.504133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129225; longitude = -129.968774; duration = 409; initialDepth = 1804.283163; finalDepth = 1807.504133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8672669999999 # Actual altitude: 54.8672669999999 # Commanded vehicle depth: 1807.504133 # Seafloor depth: -1858.425618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.962476 meters # Minimum depth: 1854.283163 meters looking forward 100.000000 meters along route # Maximum depth: 1866.365078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.283163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130028; longitude = -129.968122; duration = 403; initialDepth = 1792.523900; finalDepth = 1804.283163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.797581 # Actual altitude: 60.797581 # Commanded vehicle depth: 1804.283163 # Seafloor depth: -1865.080744 # 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 6 # Segment length 105.512315 meters # Minimum depth: 1842.523900 meters looking forward 100.000000 meters along route # Maximum depth: 1853.432202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.523900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130819; longitude = -129.967480; duration = 422; initialDepth = 1798.844460; finalDepth = 1792.523900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.908302 # Actual altitude: 60.908302 # Commanded vehicle depth: 1792.5239 # Seafloor depth: -1853.432202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.662820 meters # Minimum depth: 1848.844460 meters looking forward 100.000000 meters along route # Maximum depth: 1864.880230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.844460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131646; longitude = -129.966808; duration = 418; initialDepth = 1800.352849; finalDepth = 1798.844460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.908302 # Actual altitude: 60.908302 # Commanded vehicle depth: 1798.84446 # Seafloor depth: -1848.844460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.54; 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 147.928108 meters # Minimum depth: 1850.352849 meters looking forward 100.000000 meters along route # Maximum depth: 1863.890506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.352849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132466; longitude = -129.966142; duration = 591; # abortOnTimeout = True; initialDepth = 1791.057793; finalDepth = 1800.352849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.2877759999999 # Actual altitude: 63.2877759999999 # Commanded vehicle depth: 1800.352849 # Seafloor depth: -1863.640625 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 159.357657 meters # Minimum depth: 1841.057793 meters looking forward 100.000000 meters along route # Maximum depth: 1849.521179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.057793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133178; longitude = -129.967760; duration = 637; # abortOnTimeout = True; initialDepth = 1790.942115; finalDepth = 1791.057793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2877759999999 # Actual altitude: 63.2877759999999 # Commanded vehicle depth: 1791.057793 # Seafloor depth: -1849.521179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.221318 meters # Minimum depth: 1840.942115 meters looking forward 100.000000 meters along route # Maximum depth: 1843.559084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.942115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131929; longitude = -129.968774; duration = 408; initialDepth = 1793.507285; finalDepth = 1790.942115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4633860000001 # Actual altitude: 58.4633860000001 # Commanded vehicle depth: 1790.942115 # Seafloor depth: -1841.148239 # 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 4 # Segment length 101.191114 meters # Minimum depth: 1843.507285 meters looking forward 100.000000 meters along route # Maximum depth: 1860.699533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.507285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131128; longitude = -129.969425; duration = 404; initialDepth = 1808.158030; finalDepth = 1793.507285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.206124 # Actual altitude: 50.206124 # Commanded vehicle depth: 1793.507285 # Seafloor depth: -1843.507285 # 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 4 # Segment length 101.706746 meters # Minimum depth: 1858.158030 meters looking forward 100.000000 meters along route # Maximum depth: 1869.099671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.158030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130335; longitude = -129.970069; duration = 406; initialDepth = 1807.747250; finalDepth = 1808.158030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7045880000001 # Actual altitude: 51.7045880000001 # Commanded vehicle depth: 1808.15803 # Seafloor depth: -1859.862618 # 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 4 # Segment length 102.672752 meters # Minimum depth: 1857.747250 meters looking forward 100.000000 meters along route # Maximum depth: 1870.176030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.747250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129538; longitude = -129.970716; duration = 410; initialDepth = 1802.826219; finalDepth = 1807.747250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.399754 # Actual altitude: 61.399754 # Commanded vehicle depth: 1807.74725 # Seafloor depth: -1869.147004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.741801 meters # Minimum depth: 1852.826219 meters looking forward 100.000000 meters along route # Maximum depth: 1864.329016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.826219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128733; longitude = -129.971369; duration = 402; initialDepth = 1805.046339; finalDepth = 1802.826219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.399754 # Actual altitude: 61.399754 # Commanded vehicle depth: 1802.826219 # Seafloor depth: -1857.617563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.707806 meters # Minimum depth: 1855.046339 meters looking forward 100.000000 meters along route # Maximum depth: 1864.660015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.046339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127944; longitude = -129.972010; duration = 406; initialDepth = 1784.546700; finalDepth = 1805.046339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6136759999999 # Actual altitude: 59.6136759999999 # Commanded vehicle depth: 1805.046339 # Seafloor depth: -1864.660015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.124195 meters # Minimum depth: 1834.546700 meters looking forward 100.000000 meters along route # Maximum depth: 1854.299191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.546700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127147; longitude = -129.972657; duration = 412; initialDepth = 1767.704595; finalDepth = 1784.546700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.752491 # Actual altitude: 69.752491 # Commanded vehicle depth: 1784.5467 # Seafloor depth: -1854.299191 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.292477 meters # Minimum depth: 1817.704595 meters looking forward 100.000000 meters along route # Maximum depth: 1834.347126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.704595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126339; longitude = -129.973314; duration = 401; initialDepth = 1757.913808; finalDepth = 1767.704595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.752491 # Actual altitude: 69.752491 # Commanded vehicle depth: 1767.704595 # Seafloor depth: -1834.347126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.708866 meters # Minimum depth: 1807.913808 meters looking forward 100.000000 meters along route # Maximum depth: 1821.336724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.913808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125553; longitude = -129.973952; duration = 406; initialDepth = 1739.660919; finalDepth = 1757.913808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.642531 # Actual altitude: 66.642531 # Commanded vehicle depth: 1757.913808 # Seafloor depth: -1818.034339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.709220 meters # Minimum depth: 1789.660919 meters looking forward 100.000000 meters along route # Maximum depth: 1808.665753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.660919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124756; longitude = -129.974599; duration = 406; initialDepth = 1731.284102; finalDepth = 1739.660919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.398154 # Actual altitude: 68.398154 # Commanded vehicle depth: 1739.660919 # Seafloor depth: -1808.059073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.709573 meters # Minimum depth: 1781.284102 meters looking forward 100.000000 meters along route # Maximum depth: 1787.958902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.284102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123959; longitude = -129.975246; duration = 406; initialDepth = 1731.864349; finalDepth = 1731.284102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.398154 # Actual altitude: 68.398154 # Commanded vehicle depth: 1731.284102 # Seafloor depth: -1787.958902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.709926 meters # Minimum depth: 1781.864349 meters looking forward 100.000000 meters along route # Maximum depth: 1785.766214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.864349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123161; longitude = -129.975893; duration = 406; initialDepth = 1736.072929; finalDepth = 1731.864349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6748 # Actual altitude: 56.6748 # Commanded vehicle depth: 1731.864349 # Seafloor depth: -1785.766214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.710280 meters # Minimum depth: 1786.072929 meters looking forward 100.000000 meters along route # Maximum depth: 1811.206021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.072929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122364; longitude = -129.976541; duration = 406; initialDepth = 1756.505249; finalDepth = 1736.072929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.901865 # Actual altitude: 53.901865 # Commanded vehicle depth: 1736.072929 # Seafloor depth: -1786.072929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.710634 meters # Minimum depth: 1806.505249 meters looking forward 100.000000 meters along route # Maximum depth: 1813.788781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.505249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121567; longitude = -129.977188; duration = 406; initialDepth = 1744.654982; finalDepth = 1756.505249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2835319999999 # Actual altitude: 57.2835319999999 # Commanded vehicle depth: 1756.505249 # Seafloor depth: -1813.788781 # 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 4 # Segment length 101.710986 meters # Minimum depth: 1794.654982 meters looking forward 100.000000 meters along route # Maximum depth: 1808.214713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.654982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120770; longitude = -129.977835; duration = 406; initialDepth = 1743.995581; finalDepth = 1744.654982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.174438 # Actual altitude: 62.174438 # Commanded vehicle depth: 1744.654982 # Seafloor depth: -1806.829420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.711341 meters # Minimum depth: 1793.995581 meters looking forward 100.000000 meters along route # Maximum depth: 1810.002232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.995581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119973; longitude = -129.978482; duration = 406; initialDepth = 1760.863440; finalDepth = 1743.995581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.174438 # Actual altitude: 62.174438 # Commanded vehicle depth: 1743.995581 # Seafloor depth: -1794.836574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.876048 meters # Minimum depth: 1810.863440 meters looking forward 100.000000 meters along route # Maximum depth: 1815.230282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.863440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119176; longitude = -129.979130; duration = 407; initialDepth = 1760.853497; finalDepth = 1760.863440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1496079999999 # Actual altitude: 52.1496079999999 # Commanded vehicle depth: 1760.86344 # Seafloor depth: -1813.013048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.547692 meters # Minimum depth: 1810.853497 meters looking forward 100.000000 meters along route # Maximum depth: 1814.822786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.853497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118378; longitude = -129.979778; duration = 406; initialDepth = 1762.371066; finalDepth = 1760.853497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1496079999999 # Actual altitude: 52.1496079999999 # Commanded vehicle depth: 1760.853497 # Seafloor depth: -1810.853497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.712401 meters # Minimum depth: 1812.371066 meters looking forward 100.000000 meters along route # Maximum depth: 1817.862308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.371066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117582; longitude = -129.980424; duration = 406; initialDepth = 1757.469645; finalDepth = 1762.371066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.371066 # Seafloor depth: -1812.371066 # 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 4 # Segment length 102.327504 meters # Minimum depth: 1807.469645 meters looking forward 100.000000 meters along route # Maximum depth: 1814.240421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.469645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116785; longitude = -129.981071; duration = 409; initialDepth = 1756.258416; finalDepth = 1757.469645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2667760000002 # Actual altitude: 56.2667760000002 # Commanded vehicle depth: 1757.469645 # Seafloor depth: -1813.736421 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.098357 meters # Minimum depth: 1806.258416 meters looking forward 100.000000 meters along route # Maximum depth: 1809.032913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.258416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115983; longitude = -129.981722; duration = 404; initialDepth = 1757.139330; finalDepth = 1756.258416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2667760000002 # Actual altitude: 56.2667760000002 # Commanded vehicle depth: 1756.258416 # Seafloor depth: -1807.348986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.713461 meters # Minimum depth: 1807.139330 meters looking forward 100.000000 meters along route # Maximum depth: 1822.198087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.139330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115191; longitude = -129.982366; duration = 406; initialDepth = 1762.980726; finalDepth = 1757.139330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0905700000001 # Actual altitude: 51.0905700000001 # Commanded vehicle depth: 1757.13933 # Seafloor depth: -1808.075264 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.778969 meters # Minimum depth: 1812.980726 meters looking forward 100.000000 meters along route # Maximum depth: 1820.992624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.980726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114394; longitude = -129.983013; duration = 411; initialDepth = 1759.034352; finalDepth = 1762.980726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.011898 # Actual altitude: 58.011898 # Commanded vehicle depth: 1762.980726 # Seafloor depth: -1820.992624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.649013 meters # Minimum depth: 1809.034352 meters looking forward 100.000000 meters along route # Maximum depth: 1812.804214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.034352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113588; longitude = -129.983667; duration = 402; initialDepth = 1762.621075; finalDepth = 1759.034352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.011898 # Actual altitude: 58.011898 # Commanded vehicle depth: 1759.034352 # Seafloor depth: -1812.804214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.714522 meters # Minimum depth: 1812.621075 meters looking forward 100.000000 meters along route # Maximum depth: 1819.971625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.621075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112800; longitude = -129.984307; duration = 406; initialDepth = 1770.882226; finalDepth = 1762.621075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7698620000001 # Actual altitude: 53.7698620000001 # Commanded vehicle depth: 1762.621075 # Seafloor depth: -1812.621075 # 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 4 # Segment length 103.230443 meters # Minimum depth: 1820.882226 meters looking forward 100.000000 meters along route # Maximum depth: 1831.021069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.882226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112003; longitude = -129.984955; duration = 412; initialDepth = 1773.198014; finalDepth = 1770.882226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1770.882226 # Seafloor depth: -1820.882226 # 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 4 # Segment length 100.199660 meters # Minimum depth: 1823.198014 meters looking forward 100.000000 meters along route # Maximum depth: 1828.926452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.198014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111194; longitude = -129.985611; duration = 400; initialDepth = 1768.509735; finalDepth = 1773.198014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7284379999999 # Actual altitude: 55.7284379999999 # Commanded vehicle depth: 1773.198014 # Seafloor depth: -1828.926452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.715582 meters # Minimum depth: 1818.509735 meters looking forward 100.000000 meters along route # Maximum depth: 1823.539689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.509735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110409; longitude = -129.986249; duration = 406; initialDepth = 1766.658571; finalDepth = 1768.509735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7284379999999 # Actual altitude: 55.7284379999999 # Commanded vehicle depth: 1768.509735 # Seafloor depth: -1823.005455 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.715935 meters # Minimum depth: 1816.658571 meters looking forward 100.000000 meters along route # Maximum depth: 1824.059843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.658571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109611; longitude = -129.986896; duration = 406; initialDepth = 1761.989804; finalDepth = 1766.658571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4957199999999 # Actual altitude: 54.4957199999999 # Commanded vehicle depth: 1766.658571 # Seafloor depth: -1817.679153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.716289 meters # Minimum depth: 1811.989804 meters looking forward 100.000000 meters along route # Maximum depth: 1822.184384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.989804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108814; longitude = -129.987543; duration = 406; initialDepth = 1754.825798; finalDepth = 1761.989804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1945799999999 # Actual altitude: 60.1945799999999 # Commanded vehicle depth: 1761.989804 # Seafloor depth: -1822.184384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.716642 meters # Minimum depth: 1804.825798 meters looking forward 100.000000 meters along route # Maximum depth: 1812.817062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.825798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108017; longitude = -129.988191; duration = 406; initialDepth = 1740.489871; finalDepth = 1754.825798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1945799999999 # Actual altitude: 60.1945799999999 # Commanded vehicle depth: 1754.825798 # Seafloor depth: -1812.808445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.716996 meters # Minimum depth: 1790.489871 meters looking forward 100.000000 meters along route # Maximum depth: 1803.534862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.489871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107220; longitude = -129.988838; duration = 406; initialDepth = 1726.172905; finalDepth = 1740.489871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.044991 # Actual altitude: 63.044991 # Commanded vehicle depth: 1740.489871 # Seafloor depth: -1803.534862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.717350 meters # Minimum depth: 1776.172905 meters looking forward 100.000000 meters along route # Maximum depth: 1800.314290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.172905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106423; longitude = -129.989485; duration = 406; initialDepth = 1722.428919; finalDepth = 1726.172905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1413850000001 # Actual altitude: 74.1413850000001 # Commanded vehicle depth: 1726.172905 # Seafloor depth: -1800.314290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.717703 meters # Minimum depth: 1772.428919 meters looking forward 100.000000 meters along route # Maximum depth: 1776.149769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.428919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105626; longitude = -129.990132; duration = 406; initialDepth = 1722.204349; finalDepth = 1722.428919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1413850000001 # Actual altitude: 74.1413850000001 # Commanded vehicle depth: 1722.428919 # Seafloor depth: -1776.149769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.718056 meters # Minimum depth: 1772.204349 meters looking forward 100.000000 meters along route # Maximum depth: 1774.735340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.204349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104829; longitude = -129.990780; duration = 406; initialDepth = 1719.592859; finalDepth = 1722.204349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7208500000002 # Actual altitude: 53.7208500000002 # Commanded vehicle depth: 1722.204349 # Seafloor depth: -1773.156145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.982219 meters # Minimum depth: 1769.592859 meters looking forward 100.000000 meters along route # Maximum depth: 1772.492603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.592859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104032; longitude = -129.991427; duration = 407; initialDepth = 1718.387649; finalDepth = 1719.592859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2190449999998 # Actual altitude: 52.2190449999998 # Commanded vehicle depth: 1719.592859 # Seafloor depth: -1771.811904 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.454955 meters # Minimum depth: 1768.387649 meters looking forward 100.000000 meters along route # Maximum depth: 1771.700090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.387649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103233; longitude = -129.992076; duration = 405; initialDepth = 1717.124676; finalDepth = 1718.387649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2190449999998 # Actual altitude: 52.2190449999998 # Commanded vehicle depth: 1718.387649 # Seafloor depth: -1769.576306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.719117 meters # Minimum depth: 1767.124676 meters looking forward 100.000000 meters along route # Maximum depth: 1771.692325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.124676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102438; longitude = -129.992721; duration = 406; initialDepth = 1717.106152; finalDepth = 1717.124676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5676490000001 # Actual altitude: 54.5676490000001 # Commanded vehicle depth: 1717.124676 # Seafloor depth: -1771.692325 # 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 4 # Segment length 102.433706 meters # Minimum depth: 1767.106152 meters looking forward 100.000000 meters along route # Maximum depth: 1771.764170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.106152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101641; longitude = -129.993368; duration = 409; initialDepth = 1718.544011; finalDepth = 1717.106152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5676490000001 # Actual altitude: 54.5676490000001 # Commanded vehicle depth: 1717.106152 # Seafloor depth: -1767.325300 # 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 4 # Segment length 101.005590 meters # Minimum depth: 1768.544011 meters looking forward 100.000000 meters along route # Maximum depth: 1772.284123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.544011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100838; longitude = -129.994020; duration = 404; initialDepth = 1720.259183; finalDepth = 1718.544011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4232710000001 # Actual altitude: 51.4232710000001 # Commanded vehicle depth: 1718.544011 # Seafloor depth: -1769.967282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.487958 meters # Minimum depth: 1770.259183 meters looking forward 100.000000 meters along route # Maximum depth: 1773.006592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.259183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100047; longitude = -129.994663; duration = 421; initialDepth = 1719.689674; finalDepth = 1720.259183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4232710000001 # Actual altitude: 51.4232710000001 # Commanded vehicle depth: 1720.259183 # Seafloor depth: -1770.868005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.668943 meters # Minimum depth: 1769.689674 meters looking forward 100.000000 meters along route # Maximum depth: 1775.992916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.689674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099220; longitude = -129.995334; duration = 418; initialDepth = 1712.833652; finalDepth = 1719.689674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.6088220000001 # Actual altitude: 50.6088220000001 # Commanded vehicle depth: 1719.689674 # Seafloor depth: -1769.689674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.37; 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 148.429368 meters # Minimum depth: 1762.833652 meters looking forward 100.000000 meters along route # Maximum depth: 1776.214508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.833652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098400; longitude = -129.996000; duration = 593; # abortOnTimeout = True; initialDepth = 1712.683914; finalDepth = 1712.833652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.380856 # Actual altitude: 63.380856 # Commanded vehicle depth: 1712.833652 # Seafloor depth: -1776.214508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.03; 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 95.162852 meters # Minimum depth: 1762.683914 meters looking forward 100.000000 meters along route # Maximum depth: 1767.799010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.683914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099069; longitude = -129.997662; duration = 380; # abortOnTimeout = True; initialDepth = 1712.569256; finalDepth = 1712.683914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.380856 # Actual altitude: 63.380856 # Commanded vehicle depth: 1712.683914 # Seafloor depth: -1764.961273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.893830 meters # Minimum depth: 1762.569256 meters looking forward 100.000000 meters along route # Maximum depth: 1765.143780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.569256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099815; longitude = -129.997058; duration = 407; initialDepth = 1714.127098; finalDepth = 1712.569256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2773589999999 # Actual altitude: 52.2773589999999 # Commanded vehicle depth: 1712.569256 # Seafloor depth: -1763.994571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.902437 meters # Minimum depth: 1764.127098 meters looking forward 100.000000 meters along route # Maximum depth: 1767.170806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.127098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100614; longitude = -129.996410; duration = 411; initialDepth = 1714.144394; finalDepth = 1714.127098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.425315 # Actual altitude: 51.425315 # Commanded vehicle depth: 1714.127098 # Seafloor depth: -1764.302451 # 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 2 # Segment length 100.884163 meters # Minimum depth: 1764.144394 meters looking forward 100.000000 meters along route # Maximum depth: 1768.877712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.144394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101421; longitude = -129.995757; duration = 403; initialDepth = 1716.081793; finalDepth = 1714.144394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1753530000001 # Actual altitude: 50.1753530000001 # Commanded vehicle depth: 1714.144394 # Seafloor depth: -1764.144394 # 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 2 # Segment length 101.892769 meters # Minimum depth: 1766.081793 meters looking forward 100.000000 meters along route # Maximum depth: 1768.849896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.081793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102212; longitude = -129.995116; duration = 407; initialDepth = 1716.379747; finalDepth = 1716.081793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7681029999999 # Actual altitude: 52.7681029999999 # Commanded vehicle depth: 1716.081793 # Seafloor depth: -1768.849896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.664062 meters # Minimum depth: 1766.379747 meters looking forward 100.000000 meters along route # Maximum depth: 1770.702982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.379747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103011; longitude = -129.994469; duration = 410; initialDepth = 1718.848011; finalDepth = 1716.379747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7681029999999 # Actual altitude: 52.7681029999999 # Commanded vehicle depth: 1716.379747 # Seafloor depth: -1767.550821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.120415 meters # Minimum depth: 1768.848011 meters looking forward 100.000000 meters along route # Maximum depth: 1771.939886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.848011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103815; longitude = -129.993817; duration = 404; initialDepth = 1717.631095; finalDepth = 1718.848011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1710740000001 # Actual altitude: 51.1710740000001 # Commanded vehicle depth: 1718.848011 # Seafloor depth: -1769.939137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.891708 meters # Minimum depth: 1767.631095 meters looking forward 100.000000 meters along route # Maximum depth: 1770.853560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.631095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104608; longitude = -129.993174; duration = 407; initialDepth = 1720.297964; finalDepth = 1717.631095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2224650000001 # Actual altitude: 53.2224650000001 # Commanded vehicle depth: 1717.631095 # Seafloor depth: -1770.853560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.425693 meters # Minimum depth: 1770.297964 meters looking forward 100.000000 meters along route # Maximum depth: 1790.563699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.297964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105407; longitude = -129.992527; duration = 409; initialDepth = 1740.700844; finalDepth = 1720.297964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2224650000001 # Actual altitude: 53.2224650000001 # Commanded vehicle depth: 1720.297964 # Seafloor depth: -1770.297964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.356662 meters # Minimum depth: 1790.700844 meters looking forward 100.000000 meters along route # Maximum depth: 1812.494605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.700844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106210; longitude = -129.991876; duration = 405; initialDepth = 1757.430874; finalDepth = 1740.700844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1740.700844 # Seafloor depth: -1790.700844 # 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 2 # Segment length 101.890647 meters # Minimum depth: 1807.430874 meters looking forward 100.000000 meters along route # Maximum depth: 1812.985271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.430874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107005; longitude = -129.991233; duration = 407; initialDepth = 1757.212174; finalDepth = 1757.430874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8372550000001 # Actual altitude: 53.8372550000001 # Commanded vehicle depth: 1757.430874 # Seafloor depth: -1811.268129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.187328 meters # Minimum depth: 1807.212174 meters looking forward 100.000000 meters along route # Maximum depth: 1810.969519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.212174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107804; longitude = -129.990585; duration = 408; initialDepth = 1755.509670; finalDepth = 1757.212174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8372550000001 # Actual altitude: 53.8372550000001 # Commanded vehicle depth: 1757.212174 # Seafloor depth: -1807.478491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.592904 meters # Minimum depth: 1805.509670 meters looking forward 100.000000 meters along route # Maximum depth: 1813.746134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.509670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108605; longitude = -129.989936; duration = 406; initialDepth = 1753.305395; finalDepth = 1755.509670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.566642 # Actual altitude: 55.566642 # Commanded vehicle depth: 1755.50967 # Seafloor depth: -1811.076312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.889586 meters # Minimum depth: 1803.305395 meters looking forward 100.000000 meters along route # Maximum depth: 1813.509522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.305395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109401; longitude = -129.989291; duration = 407; initialDepth = 1761.311026; finalDepth = 1753.305395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.566642 # Actual altitude: 55.566642 # Commanded vehicle depth: 1753.305395 # Seafloor depth: -1806.273852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.948969 meters # Minimum depth: 1811.311026 meters looking forward 100.000000 meters along route # Maximum depth: 1817.491433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.311026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110200; longitude = -129.988644; duration = 407; initialDepth = 1762.072055; finalDepth = 1761.311026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9684569999999 # Actual altitude: 52.9684569999999 # Commanded vehicle depth: 1761.311026 # Seafloor depth: -1812.345549 # 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 2 # Segment length 101.829142 meters # Minimum depth: 1812.072055 meters looking forward 100.000000 meters along route # Maximum depth: 1818.643175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.072055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111000; longitude = -129.987996; duration = 407; initialDepth = 1760.971036; finalDepth = 1762.072055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0059279999998 # Actual altitude: 53.0059279999998 # Commanded vehicle depth: 1762.072055 # Seafloor depth: -1815.077983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.888524 meters # Minimum depth: 1810.971036 meters looking forward 100.000000 meters along route # Maximum depth: 1815.223665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.971036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111798; longitude = -129.987349; duration = 407; initialDepth = 1755.513575; finalDepth = 1760.971036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2526290000001 # Actual altitude: 54.2526290000001 # Commanded vehicle depth: 1760.971036 # Seafloor depth: -1815.223665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.888171 meters # Minimum depth: 1805.513575 meters looking forward 100.000000 meters along route # Maximum depth: 1813.489604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.513575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112597; longitude = -129.986702; duration = 407; initialDepth = 1754.836195; finalDepth = 1755.513575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.162918 # Actual altitude: 56.162918 # Commanded vehicle depth: 1755.513575 # Seafloor depth: -1811.676493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.887818 meters # Minimum depth: 1804.836195 meters looking forward 100.000000 meters along route # Maximum depth: 1812.820701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.836195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113396; longitude = -129.986055; duration = 407; initialDepth = 1759.559228; finalDepth = 1754.836195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.162918 # Actual altitude: 56.162918 # Commanded vehicle depth: 1754.836195 # Seafloor depth: -1806.240175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.887463 meters # Minimum depth: 1809.559228 meters looking forward 100.000000 meters along route # Maximum depth: 1813.912506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.559228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114194; longitude = -129.985408; duration = 407; initialDepth = 1760.738263; finalDepth = 1759.559228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8517889999998 # Actual altitude: 51.8517889999998 # Commanded vehicle depth: 1759.559228 # Seafloor depth: -1811.411017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.887110 meters # Minimum depth: 1810.738263 meters looking forward 100.000000 meters along route # Maximum depth: 1823.308393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.738263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114993; longitude = -129.984760; duration = 407; initialDepth = 1768.884119; finalDepth = 1760.738263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.215363 # Actual altitude: 52.215363 # Commanded vehicle depth: 1760.738263 # Seafloor depth: -1812.953626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.886757 meters # Minimum depth: 1818.884119 meters looking forward 100.000000 meters along route # Maximum depth: 1830.401836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.884119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115792; longitude = -129.984113; duration = 407; initialDepth = 1766.695763; finalDepth = 1768.884119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4423239999999 # Actual altitude: 54.4423239999999 # Commanded vehicle depth: 1768.884119 # Seafloor depth: -1823.326443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.886403 meters # Minimum depth: 1816.695763 meters looking forward 100.000000 meters along route # Maximum depth: 1832.186086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.695763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116591; longitude = -129.983466; duration = 407; initialDepth = 1762.157982; finalDepth = 1766.695763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.669598 # Actual altitude: 63.669598 # Commanded vehicle depth: 1766.695763 # Seafloor depth: -1830.365361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.886049 meters # Minimum depth: 1812.157982 meters looking forward 100.000000 meters along route # Maximum depth: 1819.846427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.157982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117390; longitude = -129.982819; duration = 407; initialDepth = 1762.697903; finalDepth = 1762.157982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.669598 # Actual altitude: 63.669598 # Commanded vehicle depth: 1762.157982 # Seafloor depth: -1819.489075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.885695 meters # Minimum depth: 1812.697903 meters looking forward 100.000000 meters along route # Maximum depth: 1816.034918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.697903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118189; longitude = -129.982172; duration = 407; initialDepth = 1763.316794; finalDepth = 1762.697903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.331093 # Actual altitude: 57.331093 # Commanded vehicle depth: 1762.697903 # Seafloor depth: -1816.034918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.885342 meters # Minimum depth: 1813.316794 meters looking forward 100.000000 meters along route # Maximum depth: 1818.066994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.316794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118988; longitude = -129.981524; duration = 407; initialDepth = 1756.825867; finalDepth = 1763.316794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3370150000001 # Actual altitude: 53.3370150000001 # Commanded vehicle depth: 1763.316794 # Seafloor depth: -1814.763173 # 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 2 # Segment length 101.884989 meters # Minimum depth: 1806.825867 meters looking forward 100.000000 meters along route # Maximum depth: 1814.701180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.825867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119786; longitude = -129.980877; duration = 407; initialDepth = 1755.042310; finalDepth = 1756.825867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7308659999999 # Actual altitude: 57.7308659999999 # Commanded vehicle depth: 1756.825867 # Seafloor depth: -1814.556733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.884634 meters # Minimum depth: 1805.042310 meters looking forward 100.000000 meters along route # Maximum depth: 1810.286983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.042310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120585; longitude = -129.980230; duration = 407; initialDepth = 1754.628101; finalDepth = 1755.042310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7308659999999 # Actual altitude: 57.7308659999999 # Commanded vehicle depth: 1755.04231 # Seafloor depth: -1808.366187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.588177 meters # Minimum depth: 1804.628101 meters looking forward 100.000000 meters along route # Maximum depth: 1818.287410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.628101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121384; longitude = -129.979583; duration = 414; initialDepth = 1756.353360; finalDepth = 1754.628101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.323877 # Actual altitude: 53.323877 # Commanded vehicle depth: 1754.628101 # Seafloor depth: -1806.361714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.180032 meters # Minimum depth: 1806.353360 meters looking forward 100.000000 meters along route # Maximum depth: 1823.594119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.353360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122196; longitude = -129.978925; duration = 400; initialDepth = 1753.482159; finalDepth = 1756.353360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.233373 # Actual altitude: 62.233373 # Commanded vehicle depth: 1756.35336 # Seafloor depth: -1818.586733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.883574 meters # Minimum depth: 1803.482159 meters looking forward 100.000000 meters along route # Maximum depth: 1817.736693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.482159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122982; longitude = -129.978288; duration = 407; initialDepth = 1758.226172; finalDepth = 1753.482159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.233373 # Actual altitude: 62.233373 # Commanded vehicle depth: 1753.482159 # Seafloor depth: -1806.154107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.349817 meters # Minimum depth: 1808.226172 meters looking forward 100.000000 meters along route # Maximum depth: 1816.757308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.226172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123781; longitude = -129.977641; duration = 413; initialDepth = 1765.261244; finalDepth = 1758.226172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.240174 # Actual altitude: 54.240174 # Commanded vehicle depth: 1758.226172 # Seafloor depth: -1812.466346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.416270 meters # Minimum depth: 1815.261244 meters looking forward 100.000000 meters along route # Maximum depth: 1835.090532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.261244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124591; longitude = -129.976984; duration = 401; initialDepth = 1784.533539; finalDepth = 1765.261244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.240174 # Actual altitude: 54.240174 # Commanded vehicle depth: 1765.261244 # Seafloor depth: -1815.261244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.882513 meters # Minimum depth: 1834.533539 meters looking forward 100.000000 meters along route # Maximum depth: 1839.517970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.533539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125378; longitude = -129.976347; duration = 407; initialDepth = 1786.306731; finalDepth = 1784.533539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1784.533539 # Seafloor depth: -1834.533539 # 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 2 # Segment length 103.111462 meters # Minimum depth: 1836.306731 meters looking forward 100.000000 meters along route # Maximum depth: 1838.590340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.306731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126177; longitude = -129.975699; duration = 412; initialDepth = 1782.265523; finalDepth = 1786.306731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0842770000002 # Actual altitude: 50.0842770000002 # Commanded vehicle depth: 1786.306731 # Seafloor depth: -1836.391008 # 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 2 # Segment length 100.652504 meters # Minimum depth: 1832.265523 meters looking forward 100.000000 meters along route # Maximum depth: 1841.503799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.265523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126986; longitude = -129.975044; duration = 402; initialDepth = 1782.198000; finalDepth = 1782.265523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3951050000001 # Actual altitude: 56.3951050000001 # Commanded vehicle depth: 1782.265523 # Seafloor depth: -1838.660628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.881452 meters # Minimum depth: 1832.198000 meters looking forward 100.000000 meters along route # Maximum depth: 1843.733990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.198000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127775; longitude = -129.974405; duration = 407; initialDepth = 1785.625303; finalDepth = 1782.198000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3951050000001 # Actual altitude: 56.3951050000001 # Commanded vehicle depth: 1782.198 # Seafloor depth: -1832.198000 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.873113 meters # Minimum depth: 1835.625303 meters looking forward 100.000000 meters along route # Maximum depth: 1842.579115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.625303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128574; longitude = -129.973758; duration = 411; initialDepth = 1791.801939; finalDepth = 1785.625303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3953710000001 # Actual altitude: 55.3953710000001 # Commanded vehicle depth: 1785.625303 # Seafloor depth: -1841.020674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.888732 meters # Minimum depth: 1841.801939 meters looking forward 100.000000 meters along route # Maximum depth: 1845.618635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.801939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129381; longitude = -129.973104; duration = 403; initialDepth = 1795.174948; finalDepth = 1791.801939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3953710000001 # Actual altitude: 55.3953710000001 # Commanded vehicle depth: 1791.801939 # Seafloor depth: -1842.179820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.880391 meters # Minimum depth: 1845.174948 meters looking forward 100.000000 meters along route # Maximum depth: 1847.994559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.174948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130172; longitude = -129.972463; duration = 407; initialDepth = 1791.826946; finalDepth = 1795.174948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3778810000001 # Actual altitude: 50.3778810000001 # Commanded vehicle depth: 1795.174948 # Seafloor depth: -1845.530949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.634768 meters # Minimum depth: 1841.826946 meters looking forward 100.000000 meters along route # Maximum depth: 1846.207225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.826946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130970; longitude = -129.971816; duration = 410; initialDepth = 1789.807110; finalDepth = 1791.826946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3802790000002 # Actual altitude: 54.3802790000002 # Commanded vehicle depth: 1791.826946 # Seafloor depth: -1846.207225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.124956 meters # Minimum depth: 1839.807110 meters looking forward 100.000000 meters along route # Maximum depth: 1843.426827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.807110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131775; longitude = -129.971164; duration = 404; initialDepth = 1793.126420; finalDepth = 1789.807110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3802790000002 # Actual altitude: 54.3802790000002 # Commanded vehicle depth: 1789.80711 # Seafloor depth: -1842.028140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.227226 meters # Minimum depth: 1843.126420 meters looking forward 100.000000 meters along route # Maximum depth: 1849.184493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.126420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132568; longitude = -129.970522; duration = 420; initialDepth = 1796.581736; finalDepth = 1793.126420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2210299999999 # Actual altitude: 52.2210299999999 # Commanded vehicle depth: 1793.12642 # Seafloor depth: -1843.613885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.860089 meters # Minimum depth: 1846.581736 meters looking forward 100.000000 meters along route # Maximum depth: 1849.358703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.581736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133393; longitude = -129.969853; duration = 407; initialDepth = 1793.375031; finalDepth = 1796.581736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.337098 # Actual altitude: 51.337098 # Commanded vehicle depth: 1796.581736 # Seafloor depth: -1847.918834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 133.827098 meters # Minimum depth: 1843.375031 meters looking forward 100.000000 meters along route # Maximum depth: 1849.380310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.375031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134192; longitude = -129.969206; duration = 535; # abortOnTimeout = True; initialDepth = 1788.346394; finalDepth = 1793.375031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.005279 # Actual altitude: 56.005279 # Commanded vehicle depth: 1793.375031 # Seafloor depth: -1849.380310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.154624 meters # Minimum depth: 1838.346394 meters looking forward 100.000000 meters along route # Maximum depth: 1844.796270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.346394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133005; longitude = -129.968913; duration = 408; initialDepth = 1791.691669; finalDepth = 1788.346394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.005279 # Actual altitude: 56.005279 # Commanded vehicle depth: 1788.346394 # Seafloor depth: -1843.618857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154653 meters # Minimum depth: 1841.691669 meters looking forward 100.000000 meters along route # Maximum depth: 1854.238772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.691669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132099; longitude = -129.968690; duration = 408; initialDepth = 1804.731379; finalDepth = 1791.691669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.272463 # Actual altitude: 55.272463 # Commanded vehicle depth: 1791.691669 # Seafloor depth: -1841.933984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154683 meters # Minimum depth: 1854.731379 meters looking forward 100.000000 meters along route # Maximum depth: 1864.802371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.731379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131193; longitude = -129.968466; duration = 408; initialDepth = 1807.882188; finalDepth = 1804.731379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.242315 # Actual altitude: 50.242315 # Commanded vehicle depth: 1804.731379 # Seafloor depth: -1854.731379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154711 meters # Minimum depth: 1857.882188 meters looking forward 100.000000 meters along route # Maximum depth: 1866.260599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.882188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130287; longitude = -129.968242; duration = 408; initialDepth = 1787.596563; finalDepth = 1807.882188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.643233 # Actual altitude: 56.643233 # Commanded vehicle depth: 1807.882188 # Seafloor depth: -1864.525421 # 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 1 # Segment length 102.154741 meters # Minimum depth: 1837.596563 meters looking forward 100.000000 meters along route # Maximum depth: 1856.173772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.596563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129381; longitude = -129.968019; duration = 408; initialDepth = 1756.535051; finalDepth = 1787.596563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.577209 # Actual altitude: 68.577209 # Commanded vehicle depth: 1787.596563 # Seafloor depth: -1856.173772 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154769 meters # Minimum depth: 1806.535051 meters looking forward 100.000000 meters along route # Maximum depth: 1834.108707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.535051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128474; longitude = -129.967795; duration = 408; initialDepth = 1757.543182; finalDepth = 1756.535051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.573656 # Actual altitude: 77.573656 # Commanded vehicle depth: 1756.535051 # Seafloor depth: -1834.108707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154799 meters # Minimum depth: 1807.543182 meters looking forward 100.000000 meters along route # Maximum depth: 1833.457172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.543182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127568; longitude = -129.967572; duration = 408; initialDepth = 1770.439003; finalDepth = 1757.543182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.573656 # Actual altitude: 77.573656 # Commanded vehicle depth: 1757.543182 # Seafloor depth: -1807.891450 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154828 meters # Minimum depth: 1820.439003 meters looking forward 100.000000 meters along route # Maximum depth: 1833.099816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.439003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126662; longitude = -129.967348; duration = 408; initialDepth = 1771.913225; finalDepth = 1770.439003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.660813 # Actual altitude: 62.660813 # Commanded vehicle depth: 1770.439003 # Seafloor depth: -1833.099816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.842764 meters # Minimum depth: 1821.913225 meters looking forward 100.000000 meters along route # Maximum depth: 1832.299711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.913225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125756; longitude = -129.967124; duration = 415; initialDepth = 1767.782444; finalDepth = 1771.913225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.660813 # Actual altitude: 62.660813 # Commanded vehicle depth: 1771.913225 # Seafloor depth: -1821.913225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.466978 meters # Minimum depth: 1817.782444 meters looking forward 100.000000 meters along route # Maximum depth: 1833.240646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.782444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124835; longitude = -129.966897; duration = 401; initialDepth = 1752.454868; finalDepth = 1767.782444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.53559 # Actual altitude: 63.53559 # Commanded vehicle depth: 1767.782444 # Seafloor depth: -1831.318034 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154915 meters # Minimum depth: 1802.454868 meters looking forward 100.000000 meters along route # Maximum depth: 1815.239687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.454868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123944; longitude = -129.966677; duration = 408; initialDepth = 1742.735044; finalDepth = 1752.454868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.53559 # Actual altitude: 63.53559 # Commanded vehicle depth: 1752.454868 # Seafloor depth: -1815.239687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154944 meters # Minimum depth: 1792.735044 meters looking forward 100.000000 meters along route # Maximum depth: 1804.929991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.735044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123038; longitude = -129.966454; duration = 408; initialDepth = 1742.541008; finalDepth = 1742.735044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.784819 # Actual altitude: 62.784819 # Commanded vehicle depth: 1742.735044 # Seafloor depth: -1804.929991 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.154974 meters # Minimum depth: 1792.541008 meters looking forward 100.000000 meters along route # Maximum depth: 1803.498094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.541008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122132; longitude = -129.966230; duration = 408; initialDepth = 1751.309365; finalDepth = 1742.541008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.194947 # Actual altitude: 62.194947 # Commanded vehicle depth: 1742.541008 # Seafloor depth: -1793.298394 # 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 1 # Segment length 102.155002 meters # Minimum depth: 1801.309365 meters looking forward 100.000000 meters along route # Maximum depth: 1805.339568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.309365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121226; longitude = -129.966007; duration = 408; initialDepth = 1747.249678; finalDepth = 1751.309365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.030203 # Actual altitude: 54.030203 # Commanded vehicle depth: 1751.309365 # Seafloor depth: -1805.339568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155031 meters # Minimum depth: 1797.249678 meters looking forward 100.000000 meters along route # Maximum depth: 1826.535197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.249678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120319; longitude = -129.965783; duration = 408; initialDepth = 1772.370200; finalDepth = 1747.249678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4446690000002 # Actual altitude: 57.4446690000002 # Commanded vehicle depth: 1747.249678 # Seafloor depth: -1804.694347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155061 meters # Minimum depth: 1822.370200 meters looking forward 100.000000 meters along route # Maximum depth: 1854.751556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.370200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119413; longitude = -129.965559; duration = 408; initialDepth = 1799.476744; finalDepth = 1772.370200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4446690000002 # Actual altitude: 57.4446690000002 # Commanded vehicle depth: 1772.3702 # Seafloor depth: -1822.370200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155089 meters # Minimum depth: 1849.476744 meters looking forward 100.000000 meters along route # Maximum depth: 1859.011730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.476744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118507; longitude = -129.965336; duration = 408; initialDepth = 1751.877831; finalDepth = 1799.476744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.875875 # Actual altitude: 53.875875 # Commanded vehicle depth: 1799.476744 # Seafloor depth: -1853.352619 # 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 1 # Segment length 102.155119 meters # Minimum depth: 1801.877831 meters looking forward 100.000000 meters along route # Maximum depth: 1852.778624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.877831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117601; longitude = -129.965112; duration = 408; initialDepth = 1717.239660; finalDepth = 1751.877831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.900793 # Actual altitude: 100 # Commanded vehicle depth: 1751.877831 # Seafloor depth: -1852.778624 # 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 102.155147 meters # Minimum depth: 1767.239660 meters looking forward 100.000000 meters along route # Maximum depth: 1801.104601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.239660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116695; longitude = -129.964889; duration = 408; initialDepth = 1715.787802; finalDepth = 1717.239660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.900793 # Actual altitude: 100 # Commanded vehicle depth: 1717.23966 # Seafloor depth: -1801.104601 # 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 103.854418 meters # Minimum depth: 1765.787802 meters looking forward 100.000000 meters along route # Maximum depth: 1772.213650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.787802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115789; longitude = -129.964665; duration = 415; initialDepth = 1716.866542; finalDepth = 1715.787802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.864941 # Actual altitude: 83.864941 # Commanded vehicle depth: 1715.787802 # Seafloor depth: -1767.548214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.455965 meters # Minimum depth: 1766.866542 meters looking forward 100.000000 meters along route # Maximum depth: 1772.528627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.866542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114868; longitude = -129.964438; duration = 401; initialDepth = 1717.014659; finalDepth = 1716.866542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5285960000001 # Actual altitude: 54.5285960000001 # Commanded vehicle depth: 1716.866542 # Seafloor depth: -1771.395138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155235 meters # Minimum depth: 1767.014659 meters looking forward 100.000000 meters along route # Maximum depth: 1776.911685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.014659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113977; longitude = -129.964218; duration = 408; initialDepth = 1726.939942; finalDepth = 1717.014659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5285960000001 # Actual altitude: 54.5285960000001 # Commanded vehicle depth: 1717.014659 # Seafloor depth: -1770.603304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155264 meters # Minimum depth: 1776.939942 meters looking forward 100.000000 meters along route # Maximum depth: 1788.718152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.939942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113071; longitude = -129.963994; duration = 408; initialDepth = 1748.149026; finalDepth = 1726.939942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.588645 # Actual altitude: 53.588645 # Commanded vehicle depth: 1726.939942 # Seafloor depth: -1776.939942 # 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 102.155293 meters # Minimum depth: 1798.149026 meters looking forward 100.000000 meters along route # Maximum depth: 1851.845879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.149026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112165; longitude = -129.963771; duration = 408; initialDepth = 1785.330511; finalDepth = 1748.149026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0777009999999 # Actual altitude: 56.0777009999999 # Commanded vehicle depth: 1748.149026 # Seafloor depth: -1804.226727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155322 meters # Minimum depth: 1850.399490 meters looking forward 100.000000 meters along route # Maximum depth: 1854.546222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.330511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111258; longitude = -129.963547; duration = 408; initialDepth = 1801.694257; finalDepth = 1785.330511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.458101764114 # Actual altitude: 66.458101764114 # Commanded vehicle depth: 1785.33051123589 # Seafloor depth: -1851.788613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155352 meters # Minimum depth: 1851.694257 meters looking forward 100.000000 meters along route # Maximum depth: 1855.596566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.694257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110352; longitude = -129.963324; duration = 408; initialDepth = 1795.630571; finalDepth = 1801.694257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.458101764114 # Actual altitude: 66.458101764114 # Commanded vehicle depth: 1801.694257 # Seafloor depth: -1852.936401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155380 meters # Minimum depth: 1845.630571 meters looking forward 100.000000 meters along route # Maximum depth: 1850.957559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.630571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109446; longitude = -129.963100; duration = 408; initialDepth = 1790.647775; finalDepth = 1795.630571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.961415 # Actual altitude: 54.961415 # Commanded vehicle depth: 1795.630571 # Seafloor depth: -1850.591986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155410 meters # Minimum depth: 1840.647775 meters looking forward 100.000000 meters along route # Maximum depth: 1846.599663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.647775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108540; longitude = -129.962876; duration = 408; initialDepth = 1791.500062; finalDepth = 1790.647775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9518880000001 # Actual altitude: 55.9518880000001 # Commanded vehicle depth: 1790.647775 # Seafloor depth: -1846.599663 # 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 1 # Segment length 102.155438 meters # Minimum depth: 1841.500062 meters looking forward 100.000000 meters along route # Maximum depth: 1846.198444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.500062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107634; longitude = -129.962653; duration = 408; initialDepth = 1795.338214; finalDepth = 1791.500062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9518880000001 # Actual altitude: 55.9518880000001 # Commanded vehicle depth: 1791.500062 # Seafloor depth: -1841.500062 # 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 1 # Segment length 102.155468 meters # Minimum depth: 1845.338214 meters looking forward 100.000000 meters along route # Maximum depth: 1853.672421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.338214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106728; longitude = -129.962429; duration = 408; initialDepth = 1802.420212; finalDepth = 1795.338214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0880459999998 # Actual altitude: 50.0880459999998 # Commanded vehicle depth: 1795.338214 # Seafloor depth: -1845.426260 # 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 1 # Segment length 103.866071 meters # Minimum depth: 1852.420212 meters looking forward 100.000000 meters along route # Maximum depth: 1866.354496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.420212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105822; longitude = -129.962206; duration = 415; initialDepth = 1777.988436; finalDepth = 1802.420212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0880459999998 # Actual altitude: 50.0880459999998 # Commanded vehicle depth: 1802.420212 # Seafloor depth: -1852.420212 # 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 1 # Segment length 100.444951 meters # Minimum depth: 1827.988436 meters looking forward 100.000000 meters along route # Maximum depth: 1865.469912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.988436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104901; longitude = -129.961978; duration = 401; initialDepth = 1770.369736; finalDepth = 1777.988436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.4814759999999 # Actual altitude: 87.4814759999999 # Commanded vehicle depth: 1777.988436 # Seafloor depth: -1865.469912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155555 meters # Minimum depth: 1820.369736 meters looking forward 100.000000 meters along route # Maximum depth: 1825.780546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.369736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104010; longitude = -129.961758; duration = 408; initialDepth = 1771.558598; finalDepth = 1770.369736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.4814759999999 # Actual altitude: 87.4814759999999 # Commanded vehicle depth: 1770.369736 # Seafloor depth: -1825.780546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155584 meters # Minimum depth: 1821.558598 meters looking forward 100.000000 meters along route # Maximum depth: 1835.007547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.558598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103103; longitude = -129.961535; duration = 408; initialDepth = 1785.265337; finalDepth = 1771.558598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4108099999999 # Actual altitude: 55.4108099999999 # Commanded vehicle depth: 1771.558598 # Seafloor depth: -1821.741867 # 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 1 # Segment length 102.155614 meters # Minimum depth: 1835.265337 meters looking forward 100.000000 meters along route # Maximum depth: 1839.669676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.265337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102197; longitude = -129.961311; duration = 408; initialDepth = 1778.473808; finalDepth = 1785.265337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.613085 # Actual altitude: 50.613085 # Commanded vehicle depth: 1785.265337 # Seafloor depth: -1835.878422 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155642 meters # Minimum depth: 1828.473808 meters looking forward 100.000000 meters along route # Maximum depth: 1841.176264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.473808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101291; longitude = -129.961088; duration = 408; initialDepth = 1776.221530; finalDepth = 1778.473808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0246910000001 # Actual altitude: 62.0246910000001 # Commanded vehicle depth: 1778.473808 # Seafloor depth: -1840.498499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155671 meters # Minimum depth: 1826.221530 meters looking forward 100.000000 meters along route # Maximum depth: 1843.566162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.221530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100385; longitude = -129.960864; duration = 408; initialDepth = 1793.871453; finalDepth = 1776.221530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0246910000001 # Actual altitude: 62.0246910000001 # Commanded vehicle depth: 1776.22153 # Seafloor depth: -1826.221530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.155701 meters # Minimum depth: 1843.871453 meters looking forward 100.000000 meters along route # Maximum depth: 1864.241151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.871453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099479; longitude = -129.960641; duration = 408; initialDepth = 1813.731067; finalDepth = 1793.871453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.219124 # Actual altitude: 50.219124 # Commanded vehicle depth: 1793.871453 # Seafloor depth: -1844.090577 # 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 104.617821 meters # Minimum depth: 1863.731067 meters looking forward 100.000000 meters along route # Maximum depth: 1866.377870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1851.142588 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.731067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098573; longitude = -129.960417; duration = 418; initialDepth = 1813.731067; finalDepth = 1813.731067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.5357690000001 # Actual altitude: 50.5357690000001 # Commanded vehicle depth: 1813.731067 # Seafloor depth: -1864.266836 # 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; } # ####################################################### # # 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: 50.5438960000001 # Sonar parameter altitude: 50.5438960000001 # Commanded vehicle depth: 1813.731067 # Seafloor depth: -1864.274963 # 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 = 30.33; 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 104.617821 meters # Minimum depth: 1863.731067 meters looking forward 100.000000 meters along route # Maximum depth: 1866.377870 meters looking forward 100.000000 meters along route # Vehicle depth: 1813.731067 meters behavior waypoint { latitude = 46.097645; longitude = -129.960188; duration = 3627; depth = 1813.731067; 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 1813.731067 meters set by local depth and desired altitude behavior descend { duration = 6704; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1804.274963; 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 104.617821 meters # Minimum depth: 1863.731067 meters looking forward 100.000000 meters along route # Maximum depth: 1866.377870 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 46.097645; longitude = -129.960188; 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 = 300.0; 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 = 300.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################