# 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: 13A_AxialMidNrift_3v2.rte # Mission File: 13A_AxialMidNrift_3v2.cfg # Distance: 89799.268988 (m) # Estimated Time: 62725 (s) 17.424 (hr) # Abort Time: 65000 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 2964 (s) # Way Points: 33 # Route Points: 866 # 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: 31 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: 30 (m) # Delta Depth Restart 1: 20 (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: 1971.503488 (m) # Abort Vehicle Depth: 1996.503488 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1807.80304 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 -129.936327 46.134903 -1867.803040 0.000000 3 # 1 -129.960145 46.147265 -1912.317383 2295.950770 3 # 2 -129.973671 46.134062 -1848.868378 4097.021990 3 # 3 -129.972096 46.133242 -1844.122406 4249.027984 3 # 4 -129.928844 46.175368 -1946.250122 9999.390217 3 # 5 -129.927264 46.174583 -1935.656982 10149.336571 3 # 6 -129.969313 46.133631 -1847.753876 15739.554955 3 # 7 -129.967652 46.132897 -1849.983398 15891.596760 3 # 8 -129.925683 46.173797 -1896.230225 21473.547754 3 # 9 -129.924103 46.173012 -1882.112915 21623.496855 3 # 10 -129.965868 46.132408 -1863.081879 27169.545746 3 # 11 -129.964288 46.131623 -1825.417236 27319.569735 3 # 12 -129.922522 46.172227 -1883.415680 32865.688493 3 # 13 -129.920942 46.171441 -1893.161804 33015.705005 3 # 14 -129.962708 46.130838 -1815.401306 38561.758347 3 # 15 -129.961129 46.130053 -1814.265320 38711.722228 3 # 16 -129.919362 46.170656 -1917.513092 44257.845447 3 # 17 -129.917781 46.169870 -1943.165405 44407.927479 3 # 18 -129.959549 46.129269 -1836.076599 49953.939800 3 # 19 -129.957969 46.128484 -1826.672150 50103.969269 3 # 20 -129.916201 46.169085 -1915.270996 55650.006559 3 # 21 -129.914621 46.168300 -1935.997101 55799.963901 3 # 22 -129.956390 46.127699 -1848.124939 61346.071082 3 # 23 -129.954810 46.126914 -1852.706360 61496.103293 3 # 24 -129.913041 46.167514 -1934.439026 67042.145079 3 # 25 -129.911461 46.166729 -1947.025848 67192.105169 3 # 26 -129.953230 46.126129 -1876.952911 72738.171931 3 # 27 -129.951651 46.125344 -1855.816711 72888.144028 3 # 28 -129.909880 46.165943 -1983.317413 78434.235252 3 # 29 -129.908300 46.165158 -1975.275513 78584.198089 3 # 30 -129.949918 46.124677 -1874.269073 84112.773559 3 # 31 -129.948279 46.123922 -1868.294037 84264.676759 3 # 32 -129.906598 46.164438 -1998.970367 89799.268988 4 # # A total of 866 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 = 1971.503488; abortDepth = 1996.503488; minAltitude = 50.000000; abortAltitude = 30.000000; deltaDepthRestart = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2964; 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 32 # Segment length 76.586871 meters # Minimum depth: 1976.044510 meters looking forward 100.000000 meters along route # Maximum depth: 2007.184077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.044510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164438; longitude = -129.906598; duration = 306; # abortOnTimeout = True; initialDepth = 1878.838400; finalDepth = 1926.044510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.925857 # Actual altitude: 72.925857 # Commanded vehicle depth: 1926.04451 # Seafloor depth: -1998.970367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.000299 meters # Minimum depth: 1928.838400 meters looking forward 100.000000 meters along route # Maximum depth: 1978.305452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.838400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163877; longitude = -129.907175; duration = 404; initialDepth = 1874.654674; finalDepth = 1878.838400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.211687 # Actual altitude: 97.211687 # Commanded vehicle depth: 1878.8384 # Seafloor depth: -1976.050087 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.116921 meters # Minimum depth: 1924.654674 meters looking forward 100.000000 meters along route # Maximum depth: 1929.542077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.654674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163138; longitude = -129.907936; duration = 412; initialDepth = 1874.981541; finalDepth = 1874.654674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.211687 # Actual altitude: 97.211687 # Commanded vehicle depth: 1874.654674 # Seafloor depth: -1927.355634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.288504 meters # Minimum depth: 1924.981541 meters looking forward 100.000000 meters along route # Maximum depth: 1930.358359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.981541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162383; longitude = -129.908712; duration = 421; initialDepth = 1875.307969; finalDepth = 1874.981541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.043692 # Actual altitude: 54.043692 # Commanded vehicle depth: 1874.981541 # Seafloor depth: -1929.025233 # 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 32 # Segment length 100.946774 meters # Minimum depth: 1925.307969 meters looking forward 100.000000 meters along route # Maximum depth: 1930.532429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.307969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161612; longitude = -129.909505; duration = 403; initialDepth = 1879.175345; finalDepth = 1875.307969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.043692 # Actual altitude: 54.043692 # Commanded vehicle depth: 1875.307969 # Seafloor depth: -1925.307969 # 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 32 # Segment length 103.118357 meters # Minimum depth: 1929.175345 meters looking forward 100.000000 meters along route # Maximum depth: 1954.333514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.175345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160873; longitude = -129.910266; duration = 412; initialDepth = 1899.054251; finalDepth = 1879.175345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0060089999999 # Actual altitude: 51.0060089999999 # Commanded vehicle depth: 1879.175345 # Seafloor depth: -1930.181354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.344903 meters # Minimum depth: 1949.054251 meters looking forward 100.000000 meters along route # Maximum depth: 1959.694423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.054251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160118; longitude = -129.911042; duration = 421; initialDepth = 1901.050803; finalDepth = 1899.054251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.578287 # Actual altitude: 54.578287 # Commanded vehicle depth: 1899.054251 # Seafloor depth: -1953.632538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.893248 meters # Minimum depth: 1951.050803 meters looking forward 100.000000 meters along route # Maximum depth: 2001.555645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1901.050803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159347; longitude = -129.911836; duration = 403; initialDepth = 1935.644269; finalDepth = 1901.050803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.578287 # Actual altitude: 54.578287 # Commanded vehicle depth: 1901.050803 # Seafloor depth: -1951.050803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.119794 meters # Minimum depth: 1985.644269 meters looking forward 100.000000 meters along route # Maximum depth: 2002.216781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.644269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158608; longitude = -129.912596; duration = 412; initialDepth = 1931.164045; finalDepth = 1935.644269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2720310000002 # Actual altitude: 65.2720310000002 # Commanded vehicle depth: 1935.644269 # Seafloor depth: -2000.916300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.401304 meters # Minimum depth: 1981.164045 meters looking forward 100.000000 meters along route # Maximum depth: 1997.362892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.164045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157853; longitude = -129.913372; duration = 421; initialDepth = 1946.503488; finalDepth = 1931.164045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2720310000002 # Actual altitude: 65.2720310000002 # Commanded vehicle depth: 1931.164045 # Seafloor depth: -1985.630776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.839719 meters # Minimum depth: 1996.503488 meters looking forward 100.000000 meters along route # Maximum depth: 2006.515497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.503488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157081; longitude = -129.914166; duration = 403; initialDepth = 1905.468464; finalDepth = 1946.503488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.466731 # Actual altitude: 54.466731 # Commanded vehicle depth: 1946.503488 # Seafloor depth: -1997.633362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.121230 meters # Minimum depth: 1955.468464 meters looking forward 100.000000 meters along route # Maximum depth: 1997.038302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.468464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156343; longitude = -129.914926; duration = 412; initialDepth = 1877.115826; finalDepth = 1905.468464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5698379999999 # Actual altitude: 91.5698379999999 # Commanded vehicle depth: 1905.468464 # Seafloor depth: -1997.038302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.457707 meters # Minimum depth: 1927.115826 meters looking forward 100.000000 meters along route # Maximum depth: 1955.205320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.115826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155588; longitude = -129.915702; duration = 421; initialDepth = 1850.408900; finalDepth = 1877.115826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5698379999999 # Actual altitude: 91.5698379999999 # Commanded vehicle depth: 1877.115826 # Seafloor depth: -1955.205320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.786190 meters # Minimum depth: 1900.408900 meters looking forward 100.000000 meters along route # Maximum depth: 1932.015355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.408900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154816; longitude = -129.916496; duration = 403; initialDepth = 1840.282314; finalDepth = 1850.408900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.6064550000001 # Actual altitude: 81.6064550000001 # Commanded vehicle depth: 1850.4089 # Seafloor depth: -1932.015355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.122667 meters # Minimum depth: 1890.282314 meters looking forward 100.000000 meters along route # Maximum depth: 1901.908185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.282314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154078; longitude = -129.917256; duration = 412; initialDepth = 1839.003173; finalDepth = 1840.282314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.6064550000001 # Actual altitude: 81.6064550000001 # Commanded vehicle depth: 1840.282314 # Seafloor depth: -1901.908185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.514110 meters # Minimum depth: 1889.003173 meters looking forward 100.000000 meters along route # Maximum depth: 1911.732568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.003173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153323; longitude = -129.918032; duration = 422; initialDepth = 1841.012586; finalDepth = 1839.003173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.625871 # Actual altitude: 61.625871 # Commanded vehicle depth: 1839.003173 # Seafloor depth: -1890.691197 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.732660 meters # Minimum depth: 1891.012586 meters looking forward 100.000000 meters along route # Maximum depth: 1920.493512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.012586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152551; longitude = -129.918827; duration = 402; initialDepth = 1831.727577; finalDepth = 1841.012586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6681549999998 # Actual altitude: 67.6681549999998 # Commanded vehicle depth: 1841.012586 # Seafloor depth: -1908.680741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.124103 meters # Minimum depth: 1881.727577 meters looking forward 100.000000 meters along route # Maximum depth: 1897.710472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.727577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151814; longitude = -129.919586; duration = 412; initialDepth = 1847.545137; finalDepth = 1831.727577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6681549999998 # Actual altitude: 67.6681549999998 # Commanded vehicle depth: 1831.727577 # Seafloor depth: -1894.172694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.570516 meters # Minimum depth: 1897.545137 meters looking forward 100.000000 meters along route # Maximum depth: 1906.525776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.545137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151059; longitude = -129.920362; duration = 422; initialDepth = 1854.160960; finalDepth = 1847.545137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.445117 # Actual altitude: 62.445117 # Commanded vehicle depth: 1847.545137 # Seafloor depth: -1897.545137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.679127 meters # Minimum depth: 1904.160960 meters looking forward 100.000000 meters along route # Maximum depth: 1907.499953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.160960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150286; longitude = -129.921157; duration = 402; initialDepth = 1817.576132; finalDepth = 1854.160960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5101910000001 # Actual altitude: 52.5101910000001 # Commanded vehicle depth: 1854.16096 # Seafloor depth: -1906.671151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.125540 meters # Minimum depth: 1867.576132 meters looking forward 100.000000 meters along route # Maximum depth: 1905.852532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.576132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149549; longitude = -129.921915; duration = 412; initialDepth = 1808.116318; finalDepth = 1817.576132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.635442 # Actual altitude: 86.635442 # Commanded vehicle depth: 1817.576132 # Seafloor depth: -1904.211574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.626924 meters # Minimum depth: 1858.116318 meters looking forward 100.000000 meters along route # Maximum depth: 1869.808709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.116318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148794; longitude = -129.922692; duration = 422; initialDepth = 1815.038378; finalDepth = 1808.116318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.635442 # Actual altitude: 86.635442 # Commanded vehicle depth: 1808.116318 # Seafloor depth: -1869.808709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.625593 meters # Minimum depth: 1865.038378 meters looking forward 100.000000 meters along route # Maximum depth: 1896.891428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.038378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148020; longitude = -129.923488; duration = 402; initialDepth = 1842.055692; finalDepth = 1815.038378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6923909999998 # Actual altitude: 61.6923909999998 # Commanded vehicle depth: 1815.038378 # Seafloor depth: -1865.038378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.126977 meters # Minimum depth: 1892.055692 meters looking forward 100.000000 meters along route # Maximum depth: 1903.592009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.055692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147284; longitude = -129.924245; duration = 412; initialDepth = 1833.725096; finalDepth = 1842.055692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4152740000002 # Actual altitude: 50.4152740000002 # Commanded vehicle depth: 1842.055692 # Seafloor depth: -1892.470966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.683332 meters # Minimum depth: 1883.725096 meters looking forward 100.000000 meters along route # Maximum depth: 1902.059103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.725096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146529; longitude = -129.925022; duration = 422; initialDepth = 1838.502678; finalDepth = 1833.725096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.07635 # Actual altitude: 68.07635 # Commanded vehicle depth: 1833.725096 # Seafloor depth: -1901.801446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.572058 meters # Minimum depth: 1888.502678 meters looking forward 100.000000 meters along route # Maximum depth: 1904.728746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.502678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145755; longitude = -129.925818; duration = 402; initialDepth = 1849.585949; finalDepth = 1838.502678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.07635 # Actual altitude: 68.07635 # Commanded vehicle depth: 1838.502678 # Seafloor depth: -1888.502678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.128414 meters # Minimum depth: 1899.585949 meters looking forward 100.000000 meters along route # Maximum depth: 1911.012713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.585949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145019; longitude = -129.926575; duration = 412; initialDepth = 1857.244204; finalDepth = 1849.585949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1849.585949 # Seafloor depth: -1899.585949 # 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 32 # Segment length 105.739743 meters # Minimum depth: 1907.244204 meters looking forward 100.000000 meters along route # Maximum depth: 1928.560520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.244204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144264; longitude = -129.927352; duration = 422; initialDepth = 1854.205068; finalDepth = 1857.244204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1857.244204 # Seafloor depth: -1907.244204 # 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 32 # Segment length 100.518521 meters # Minimum depth: 1904.205068 meters looking forward 100.000000 meters along route # Maximum depth: 1918.659647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.205068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143490; longitude = -129.928148; duration = 402; initialDepth = 1817.399424; finalDepth = 1854.205068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.454579 # Actual altitude: 64.454579 # Commanded vehicle depth: 1854.205068 # Seafloor depth: -1918.659647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.129850 meters # Minimum depth: 1867.399424 meters looking forward 100.000000 meters along route # Maximum depth: 1909.375260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.399424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142754; longitude = -129.928905; duration = 412; initialDepth = 1814.833558; finalDepth = 1817.399424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.3005929999999 # Actual altitude: 90.3005929999999 # Commanded vehicle depth: 1817.399424 # Seafloor depth: -1907.700017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.796156 meters # Minimum depth: 1864.833558 meters looking forward 100.000000 meters along route # Maximum depth: 1868.036366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.833558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141999; longitude = -129.929682; duration = 423; initialDepth = 1813.577695; finalDepth = 1814.833558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.3005929999999 # Actual altitude: 90.3005929999999 # Commanded vehicle depth: 1814.833558 # Seafloor depth: -1867.437948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.464983 meters # Minimum depth: 1863.577695 meters looking forward 100.000000 meters along route # Maximum depth: 1865.821025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.577695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141225; longitude = -129.930479; duration = 401; initialDepth = 1814.271073; finalDepth = 1813.577695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.60439 # Actual altitude: 52.60439 # Commanded vehicle depth: 1813.577695 # Seafloor depth: -1865.277631 # 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 32 # Segment length 103.131287 meters # Minimum depth: 1864.271073 meters looking forward 100.000000 meters along route # Maximum depth: 1865.811815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.271073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140489; longitude = -129.931235; duration = 412; initialDepth = 1813.908209; finalDepth = 1814.271073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.699936 # Actual altitude: 51.699936 # Commanded vehicle depth: 1814.271073 # Seafloor depth: -1865.453580 # 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 32 # Segment length 105.852569 meters # Minimum depth: 1863.908209 meters looking forward 100.000000 meters along route # Maximum depth: 1874.543422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.908209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139734; longitude = -129.932012; duration = 423; initialDepth = 1825.379989; finalDepth = 1813.908209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1825070000002 # Actual altitude: 51.1825070000002 # Commanded vehicle depth: 1813.908209 # Seafloor depth: -1864.277669 # 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 32 # Segment length 100.411443 meters # Minimum depth: 1875.379989 meters looking forward 100.000000 meters along route # Maximum depth: 1881.896995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.379989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138959; longitude = -129.932809; duration = 401; initialDepth = 1821.529669; finalDepth = 1825.379989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3694600000001 # Actual altitude: 50.3694600000001 # Commanded vehicle depth: 1825.379989 # Seafloor depth: -1875.468769 # 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 32 # Segment length 103.132725 meters # Minimum depth: 1871.529669 meters looking forward 100.000000 meters along route # Maximum depth: 1881.473916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.529669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138224; longitude = -129.933565; duration = 412; initialDepth = 1815.552305; finalDepth = 1821.529669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9442469999999 # Actual altitude: 59.9442469999999 # Commanded vehicle depth: 1821.529669 # Seafloor depth: -1881.473916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.908984 meters # Minimum depth: 1865.552305 meters looking forward 100.000000 meters along route # Maximum depth: 1872.364629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.552305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137469; longitude = -129.934342; duration = 423; initialDepth = 1813.695989; finalDepth = 1815.552305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9442469999999 # Actual altitude: 59.9442469999999 # Commanded vehicle depth: 1815.552305 # Seafloor depth: -1871.392005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.357902 meters # Minimum depth: 1863.695989 meters looking forward 100.000000 meters along route # Maximum depth: 1867.137475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.695989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136694; longitude = -129.935140; duration = 401; initialDepth = 1814.239331; finalDepth = 1813.695989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8397 # Actual altitude: 55.8397 # Commanded vehicle depth: 1813.695989 # Seafloor depth: -1867.137475 # 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 32 # Segment length 103.134162 meters # Minimum depth: 1864.239331 meters looking forward 100.000000 meters along route # Maximum depth: 1868.341970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.239331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135959; longitude = -129.935895; duration = 412; initialDepth = 1816.756956; finalDepth = 1814.239331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4414859999999 # Actual altitude: 53.4414859999999 # Commanded vehicle depth: 1814.239331 # Seafloor depth: -1864.239331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 105.965401 meters # Minimum depth: 1866.756956 meters looking forward 100.000000 meters along route # Maximum depth: 1874.457747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.756956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135205; longitude = -129.936672; duration = 423; initialDepth = 1824.359561; finalDepth = 1816.756956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2687969999999 # Actual altitude: 50.2687969999999 # Commanded vehicle depth: 1816.756956 # Seafloor depth: -1867.025753 # 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 32 # Segment length 100.304360 meters # Minimum depth: 1874.359561 meters looking forward 100.000000 meters along route # Maximum depth: 1880.629217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.359561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134429; longitude = -129.937470; duration = 401; initialDepth = 1824.864870; finalDepth = 1824.359561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3443589999999 # Actual altitude: 50.3443589999999 # Commanded vehicle depth: 1824.359561 # Seafloor depth: -1874.703920 # 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 32 # Segment length 103.135599 meters # Minimum depth: 1874.864870 meters looking forward 100.000000 meters along route # Maximum depth: 1912.622286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.864870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133695; longitude = -129.938225; duration = 412; initialDepth = 1859.903997; finalDepth = 1824.864870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3443589999999 # Actual altitude: 50.3443589999999 # Commanded vehicle depth: 1824.86487 # Seafloor depth: -1874.864870 # 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 32 # Segment length 106.021820 meters # Minimum depth: 1909.903997 meters looking forward 100.000000 meters along route # Maximum depth: 1917.603492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.903997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132940; longitude = -129.939002; duration = 424; initialDepth = 1857.716143; finalDepth = 1859.903997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.746128 # Actual altitude: 52.746128 # Commanded vehicle depth: 1859.903997 # Seafloor depth: -1912.650125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.250815 meters # Minimum depth: 1907.716143 meters looking forward 100.000000 meters along route # Maximum depth: 1909.753145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.716143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132164; longitude = -129.939800; duration = 401; initialDepth = 1856.917767; finalDepth = 1857.716143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.746128 # Actual altitude: 52.746128 # Commanded vehicle depth: 1857.716143 # Seafloor depth: -1909.481480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.137036 meters # Minimum depth: 1906.917767 meters looking forward 100.000000 meters along route # Maximum depth: 1909.695654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.917767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131430; longitude = -129.940555; duration = 412; initialDepth = 1855.331479; finalDepth = 1856.917767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7653369999998 # Actual altitude: 51.7653369999998 # Commanded vehicle depth: 1856.917767 # Seafloor depth: -1907.713153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 106.078240 meters # Minimum depth: 1905.331479 meters looking forward 100.000000 meters along route # Maximum depth: 1909.424272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.331479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130675; longitude = -129.941332; duration = 424; initialDepth = 1853.095027; finalDepth = 1855.331479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5680159999999 # Actual altitude: 52.5680159999999 # Commanded vehicle depth: 1855.331479 # Seafloor depth: -1907.899495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.197270 meters # Minimum depth: 1903.095027 meters looking forward 100.000000 meters along route # Maximum depth: 1906.290106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.095027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129898; longitude = -129.942131; duration = 400; initialDepth = 1851.468399; finalDepth = 1853.095027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1950789999999 # Actual altitude: 53.1950789999999 # Commanded vehicle depth: 1853.095027 # Seafloor depth: -1906.290106 # 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 32 # Segment length 103.168511 meters # Minimum depth: 1901.468399 meters looking forward 100.000000 meters along route # Maximum depth: 1905.083116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.468399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129165; longitude = -129.942885; duration = 412; initialDepth = 1835.760765; finalDepth = 1851.468399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1950789999999 # Actual altitude: 53.1950789999999 # Commanded vehicle depth: 1851.468399 # Seafloor depth: -1903.502170 # 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 32 # Segment length 106.104625 meters # Minimum depth: 1885.760765 meters looking forward 100.000000 meters along route # Maximum depth: 1904.207073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.760765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128410; longitude = -129.943662; duration = 424; initialDepth = 1803.444508; finalDepth = 1835.760765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.62734 # Actual altitude: 67.62734 # Commanded vehicle depth: 1835.760765 # Seafloor depth: -1903.388105 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.143722 meters # Minimum depth: 1853.444508 meters looking forward 100.000000 meters along route # Maximum depth: 1882.118347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.444508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127633; longitude = -129.944461; duration = 400; initialDepth = 1807.396910; finalDepth = 1803.444508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.673839 # Actual altitude: 78.673839 # Commanded vehicle depth: 1803.444508 # Seafloor depth: -1882.118347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.224893 meters # Minimum depth: 1857.396910 meters looking forward 100.000000 meters along route # Maximum depth: 1872.694100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.396910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126900; longitude = -129.945215; duration = 412; initialDepth = 1801.138450; finalDepth = 1807.396910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.673839 # Actual altitude: 78.673839 # Commanded vehicle depth: 1807.39691 # Seafloor depth: -1858.053050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.055408 meters # Minimum depth: 1851.138450 meters looking forward 100.000000 meters along route # Maximum depth: 1872.138781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.138450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126144; longitude = -129.945993; duration = 412; initialDepth = 1821.132745; finalDepth = 1801.138450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.9094750000002 # Actual altitude: 70.9094750000002 # Commanded vehicle depth: 1801.13845 # Seafloor depth: -1872.047925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.315070 meters # Minimum depth: 1871.132745 meters looking forward 100.000000 meters along route # Maximum depth: 1880.332594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.132745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125390; longitude = -129.946769; duration = 401; initialDepth = 1814.034538; finalDepth = 1821.132745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.9094750000002 # Actual altitude: 70.9094750000002 # Commanded vehicle depth: 1821.132745 # Seafloor depth: -1874.342162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.257292 meters # Minimum depth: 1864.034538 meters looking forward 100.000000 meters along route # Maximum depth: 1871.089483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.034538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124656; longitude = -129.947524; duration = 401; initialDepth = 1802.964515; finalDepth = 1814.034538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.0549449999999 # Actual altitude: 57.0549449999999 # Commanded vehicle depth: 1814.034538 # Seafloor depth: -1871.089483 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.23; 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 151.903200 meters # Minimum depth: 1852.964515 meters looking forward 100.000000 meters along route # Maximum depth: 1871.272811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.964515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123922; longitude = -129.948279; duration = 607; # abortOnTimeout = True; initialDepth = 1824.269073; finalDepth = 1802.964515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.329522 # Actual altitude: 65.329522 # Commanded vehicle depth: 1802.964515 # Seafloor depth: -1868.294037 # 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; } # ####################################################### # # 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 160.447892 meters # Minimum depth: 1874.269073 meters looking forward 100.000000 meters along route # Maximum depth: 1897.869108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.269073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124677; longitude = -129.949918; duration = 641; # abortOnTimeout = True; initialDepth = 1839.039961; finalDepth = 1824.269073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.329522 # Actual altitude: 65.329522 # Commanded vehicle depth: 1824.269073 # Seafloor depth: -1874.269073 # 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 30 # Segment length 103.184391 meters # Minimum depth: 1889.039961 meters looking forward 100.000000 meters along route # Maximum depth: 1896.917230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.039961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125852; longitude = -129.948710; duration = 412; initialDepth = 1804.001891; finalDepth = 1839.039961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3487730000002 # Actual altitude: 57.3487730000002 # Commanded vehicle depth: 1839.039961 # Seafloor depth: -1896.388734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.767476 meters # Minimum depth: 1854.001891 meters looking forward 100.000000 meters along route # Maximum depth: 1895.645230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.001891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126607; longitude = -129.947934; duration = 419; initialDepth = 1797.506516; finalDepth = 1804.001891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.3052730000002 # Actual altitude: 90.3052730000002 # Commanded vehicle depth: 1804.001891 # Seafloor depth: -1894.307164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.599867 meters # Minimum depth: 1847.506516 meters looking forward 100.000000 meters along route # Maximum depth: 1860.267252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.506516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127374; longitude = -129.947145; duration = 406; initialDepth = 1803.077908; finalDepth = 1797.506516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.3052730000002 # Actual altitude: 90.3052730000002 # Commanded vehicle depth: 1797.506516 # Seafloor depth: -1860.267252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.182953 meters # Minimum depth: 1853.077908 meters looking forward 100.000000 meters along route # Maximum depth: 1893.082615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.077908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128118; longitude = -129.946380; duration = 412; initialDepth = 1840.633431; finalDepth = 1803.077908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7607360000002 # Actual altitude: 62.7607360000002 # Commanded vehicle depth: 1803.077908 # Seafloor depth: -1853.077908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.620303 meters # Minimum depth: 1891.941538 meters looking forward 100.000000 meters along route # Maximum depth: 1901.761902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.633431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128873; longitude = -129.945604; duration = 418; initialDepth = 1848.886641; finalDepth = 1840.633431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5269041200941 # Actual altitude: 52.5269041200941 # Commanded vehicle depth: 1840.63343087991 # Seafloor depth: -1893.160335 # 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 30 # Segment length 101.744164 meters # Minimum depth: 1898.886641 meters looking forward 100.000000 meters along route # Maximum depth: 1902.642881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.886641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129639; longitude = -129.944816; duration = 406; initialDepth = 1847.933828; finalDepth = 1848.886641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6335079999999 # Actual altitude: 52.6335079999999 # Commanded vehicle depth: 1848.886641 # Seafloor depth: -1901.520149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.181515 meters # Minimum depth: 1897.933828 meters looking forward 100.000000 meters along route # Maximum depth: 1904.172493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.933828 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130384; longitude = -129.944050; duration = 412; initialDepth = 1850.506326; finalDepth = 1847.933828; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.054981 # Actual altitude: 53.054981 # Commanded vehicle depth: 1847.933828 # Seafloor depth: -1900.988809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.473136 meters # Minimum depth: 1900.506326 meters looking forward 100.000000 meters along route # Maximum depth: 1904.391281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.506326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131140; longitude = -129.943274; duration = 417; initialDepth = 1847.800968; finalDepth = 1850.506326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.054981 # Actual altitude: 53.054981 # Commanded vehicle depth: 1850.506326 # Seafloor depth: -1903.025968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.888456 meters # Minimum depth: 1897.800968 meters looking forward 100.000000 meters along route # Maximum depth: 1903.237616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.800968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131905; longitude = -129.942487; duration = 407; initialDepth = 1842.804634; finalDepth = 1847.800968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4366479999999 # Actual altitude: 55.4366479999999 # Commanded vehicle depth: 1847.800968 # Seafloor depth: -1903.237616 # 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 30 # Segment length 103.180078 meters # Minimum depth: 1892.804634 meters looking forward 100.000000 meters along route # Maximum depth: 1907.210468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.804634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132651; longitude = -129.941720; duration = 412; initialDepth = 1842.783185; finalDepth = 1842.804634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4366479999999 # Actual altitude: 55.4366479999999 # Commanded vehicle depth: 1842.804634 # Seafloor depth: -1897.854179 # 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 30 # Segment length 104.325971 meters # Minimum depth: 1892.783185 meters looking forward 100.000000 meters along route # Maximum depth: 1912.530347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.783185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133406; longitude = -129.940944; duration = 417; initialDepth = 1833.847759; finalDepth = 1842.783185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.216846 # Actual altitude: 65.216846 # Commanded vehicle depth: 1842.783185 # Seafloor depth: -1908.000031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.032745 meters # Minimum depth: 1883.847759 meters looking forward 100.000000 meters along route # Maximum depth: 1891.955511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.847759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134170; longitude = -129.940158; duration = 408; initialDepth = 1836.311129; finalDepth = 1833.847759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.216846 # Actual altitude: 65.216846 # Commanded vehicle depth: 1833.847759 # Seafloor depth: -1891.955511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.178640 meters # Minimum depth: 1886.311129 meters looking forward 100.000000 meters along route # Maximum depth: 1893.332591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.311129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134917; longitude = -129.939390; duration = 412; initialDepth = 1817.972408; finalDepth = 1836.311129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1077519999999 # Actual altitude: 58.1077519999999 # Commanded vehicle depth: 1836.311129 # Seafloor depth: -1886.311129 # 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 30 # Segment length 104.178812 meters # Minimum depth: 1867.972408 meters looking forward 100.000000 meters along route # Maximum depth: 1886.393440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.972408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135672; longitude = -129.938614; duration = 416; initialDepth = 1817.304946; finalDepth = 1817.972408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.421032 # Actual altitude: 68.421032 # Commanded vehicle depth: 1817.972408 # Seafloor depth: -1886.393440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.177030 meters # Minimum depth: 1867.304946 meters looking forward 100.000000 meters along route # Maximum depth: 1873.102869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.304946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136435; longitude = -129.937830; duration = 408; initialDepth = 1816.235705; finalDepth = 1817.304946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.421032 # Actual altitude: 68.421032 # Commanded vehicle depth: 1817.304946 # Seafloor depth: -1867.658982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.177202 meters # Minimum depth: 1866.235705 meters looking forward 100.000000 meters along route # Maximum depth: 1871.545322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.235705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137183; longitude = -129.937060; duration = 412; initialDepth = 1814.172422; finalDepth = 1816.235705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.483125 # Actual altitude: 54.483125 # Commanded vehicle depth: 1816.235705 # Seafloor depth: -1870.718830 # 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 30 # Segment length 104.031656 meters # Minimum depth: 1864.172422 meters looking forward 100.000000 meters along route # Maximum depth: 1867.806282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.172422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137939; longitude = -129.936284; duration = 416; initialDepth = 1814.076624; finalDepth = 1814.172422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.483125 # Actual altitude: 54.483125 # Commanded vehicle depth: 1814.172422 # Seafloor depth: -1866.565115 # 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 30 # Segment length 102.321311 meters # Minimum depth: 1864.076624 meters looking forward 100.000000 meters along route # Maximum depth: 1866.719325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.076624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138700; longitude = -129.935501; duration = 409; initialDepth = 1815.056549; finalDepth = 1814.076624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.392693 # Actual altitude: 52.392693 # Commanded vehicle depth: 1814.076624 # Seafloor depth: -1865.674843 # 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 30 # Segment length 103.175764 meters # Minimum depth: 1865.056549 meters looking forward 100.000000 meters along route # Maximum depth: 1868.051842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.056549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139450; longitude = -129.934730; duration = 412; initialDepth = 1816.268961; finalDepth = 1815.056549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.598219 # Actual altitude: 51.598219 # Commanded vehicle depth: 1815.056549 # Seafloor depth: -1866.012204 # 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 30 # Segment length 103.884505 meters # Minimum depth: 1866.268961 meters looking forward 100.000000 meters along route # Maximum depth: 1870.123220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.268961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140205; longitude = -129.933954; duration = 415; initialDepth = 1817.170974; finalDepth = 1816.268961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.399273 # Actual altitude: 51.399273 # Commanded vehicle depth: 1816.268961 # Seafloor depth: -1867.668234 # 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 102.465587 meters # Minimum depth: 1867.170974 meters looking forward 100.000000 meters along route # Maximum depth: 1870.323410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.170974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140966; longitude = -129.933172; duration = 409; initialDepth = 1819.335325; finalDepth = 1817.170974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1524360000001 # Actual altitude: 53.1524360000001 # Commanded vehicle depth: 1817.170974 # Seafloor depth: -1870.323410 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.174328 meters # Minimum depth: 1869.335325 meters looking forward 100.000000 meters along route # Maximum depth: 1875.816039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.335325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141716; longitude = -129.932400; duration = 412; initialDepth = 1819.982384; finalDepth = 1819.335325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1524360000001 # Actual altitude: 53.1524360000001 # Commanded vehicle depth: 1819.335325 # Seafloor depth: -1869.335325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.737357 meters # Minimum depth: 1869.982384 meters looking forward 100.000000 meters along route # Maximum depth: 1886.862862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.982384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142471; longitude = -129.931624; duration = 414; initialDepth = 1835.316297; finalDepth = 1819.982384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3646490000001 # Actual altitude: 52.3646490000001 # Commanded vehicle depth: 1819.982384 # Seafloor depth: -1872.347033 # 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 30 # Segment length 102.609860 meters # Minimum depth: 1885.316297 meters looking forward 100.000000 meters along route # Maximum depth: 1889.807991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.316297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143231; longitude = -129.930843; duration = 410; initialDepth = 1828.358319; finalDepth = 1835.316297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3646490000001 # Actual altitude: 52.3646490000001 # Commanded vehicle depth: 1835.316297 # Seafloor depth: -1886.693746 # 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 30 # Segment length 103.172890 meters # Minimum depth: 1878.358319 meters looking forward 100.000000 meters along route # Maximum depth: 1887.483601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.358319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143982; longitude = -129.930070; duration = 412; initialDepth = 1836.633376; finalDepth = 1828.358319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.125282 # Actual altitude: 59.125282 # Commanded vehicle depth: 1828.358319 # Seafloor depth: -1887.483601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.590214 meters # Minimum depth: 1886.633376 meters looking forward 100.000000 meters along route # Maximum depth: 1911.547842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.633376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144738; longitude = -129.929294; duration = 414; initialDepth = 1825.354878; finalDepth = 1836.633376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.125282 # Actual altitude: 59.125282 # Commanded vehicle depth: 1836.633376 # Seafloor depth: -1886.633376 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.754129 meters # Minimum depth: 1875.354878 meters looking forward 100.000000 meters along route # Maximum depth: 1907.562277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.354878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145496; longitude = -129.928514; duration = 411; initialDepth = 1815.229630; finalDepth = 1825.354878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2073989999999 # Actual altitude: 82.2073989999999 # Commanded vehicle depth: 1825.354878 # Seafloor depth: -1907.562277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.171452 meters # Minimum depth: 1865.229630 meters looking forward 100.000000 meters along route # Maximum depth: 1872.732569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.229630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146249; longitude = -129.927740; duration = 412; initialDepth = 1818.908363; finalDepth = 1815.229630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.2073989999999 # Actual altitude: 82.2073989999999 # Commanded vehicle depth: 1815.22963 # Seafloor depth: -1872.732569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.443075 meters # Minimum depth: 1868.908363 meters looking forward 100.000000 meters along route # Maximum depth: 1881.958978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.908363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147004; longitude = -129.926964; duration = 413; initialDepth = 1797.811583; finalDepth = 1818.908363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.502939 # Actual altitude: 57.502939 # Commanded vehicle depth: 1818.908363 # Seafloor depth: -1870.172492 # 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 30 # Segment length 106.068262 meters # Minimum depth: 1847.811583 meters looking forward 100.000000 meters along route # Maximum depth: 1878.810630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.811583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147762; longitude = -129.926185; duration = 424; initialDepth = 1741.405414; finalDepth = 1797.811583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.999047 # Actual altitude: 80.999047 # Commanded vehicle depth: 1797.811583 # Seafloor depth: -1878.810630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.000147 meters # Minimum depth: 1791.405414 meters looking forward 100.000000 meters along route # Maximum depth: 1848.705356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.405414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148538; longitude = -129.925387; duration = 400; initialDepth = 1733.497299; finalDepth = 1741.405414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.299942 # Actual altitude: 100 # Commanded vehicle depth: 1741.405414 # Seafloor depth: -1848.705356 # 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 30 # Segment length 103.295940 meters # Minimum depth: 1783.497299 meters looking forward 100.000000 meters along route # Maximum depth: 1843.170370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.497299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149270; longitude = -129.924634; duration = 413; initialDepth = 1771.093946; finalDepth = 1733.497299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.299942 # Actual altitude: 100 # Commanded vehicle depth: 1733.497299 # Seafloor depth: -1801.019330 # 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 30 # Segment length 106.066785 meters # Minimum depth: 1835.340858 meters looking forward 100.000000 meters along route # Maximum depth: 1898.674853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.093946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150027; longitude = -129.923856; duration = 424; initialDepth = 1809.699098; finalDepth = 1771.093946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0667852160018 # Actual altitude: 72.0667852160018 # Commanded vehicle depth: 1771.093945784 # Seafloor depth: -1843.160731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.144448 meters # Minimum depth: 1897.267963 meters looking forward 100.000000 meters along route # Maximum depth: 1905.439139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.699098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150803; longitude = -129.923058; duration = 400; initialDepth = 1840.158867; finalDepth = 1809.699098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.5688653469206 # Actual altitude: 87.5688653469206 # Commanded vehicle depth: 1809.69909765308 # Seafloor depth: -1897.267963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.168099 meters # Minimum depth: 1890.158867 meters looking forward 100.000000 meters along route # Maximum depth: 1904.707142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.158867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151537; longitude = -129.922304; duration = 412; initialDepth = 1839.040728; finalDepth = 1840.158867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.5688653469206 # Actual altitude: 87.5688653469206 # Commanded vehicle depth: 1840.158867 # Seafloor depth: -1904.249652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 106.046018 meters # Minimum depth: 1889.040728 meters looking forward 100.000000 meters along route # Maximum depth: 1891.627019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.040728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152292; longitude = -129.921527; duration = 424; initialDepth = 1838.564401; finalDepth = 1839.040728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0907849999999 # Actual altitude: 64.0907849999999 # Commanded vehicle depth: 1839.040728 # Seafloor depth: -1890.154886 # 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 30 # Segment length 100.288744 meters # Minimum depth: 1888.564401 meters looking forward 100.000000 meters along route # Maximum depth: 1893.100169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.564401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153069; longitude = -129.920729; duration = 401; initialDepth = 1838.736265; finalDepth = 1838.564401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.653405 # Actual altitude: 52.653405 # Commanded vehicle depth: 1838.564401 # Seafloor depth: -1891.217806 # 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 103.166663 meters # Minimum depth: 1888.736265 meters looking forward 100.000000 meters along route # Maximum depth: 1890.197391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.736265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153803; longitude = -129.919974; duration = 412; initialDepth = 1837.384681; finalDepth = 1838.736265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.653405 # Actual altitude: 52.653405 # Commanded vehicle depth: 1838.736265 # Seafloor depth: -1889.622959 # 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 105.898851 meters # Minimum depth: 1887.384681 meters looking forward 100.000000 meters along route # Maximum depth: 1892.670832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.384681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154559; longitude = -129.919197; duration = 423; initialDepth = 1841.008048; finalDepth = 1837.384681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3496379999999 # Actual altitude: 51.3496379999999 # Commanded vehicle depth: 1837.384681 # Seafloor depth: -1888.734319 # 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 30 # Segment length 100.433037 meters # Minimum depth: 1891.008048 meters looking forward 100.000000 meters along route # Maximum depth: 1893.151622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.008048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155334; longitude = -129.918400; duration = 401; initialDepth = 1840.886120; finalDepth = 1841.008048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.794625 # Actual altitude: 51.794625 # Commanded vehicle depth: 1841.008048 # Seafloor depth: -1892.802673 # 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 30 # Segment length 103.165225 meters # Minimum depth: 1890.886120 meters looking forward 100.000000 meters along route # Maximum depth: 1973.352158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.886120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156069; longitude = -129.917644; duration = 412; initialDepth = 1878.435190; finalDepth = 1840.886120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.794625 # Actual altitude: 51.794625 # Commanded vehicle depth: 1840.88612 # Seafloor depth: -1891.124645 # 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 30 # Segment length 105.751689 meters # Minimum depth: 1971.692109 meters looking forward 100.000000 meters along route # Maximum depth: 1992.927041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.435190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156825; longitude = -129.916867; duration = 423; initialDepth = 1916.925657; finalDepth = 1878.435190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.9062385842899 # Actual altitude: 94.9062385842899 # Commanded vehicle depth: 1878.43519041571 # Seafloor depth: -1973.341429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.577326 meters # Minimum depth: 1979.306065 meters looking forward 100.000000 meters along route # Maximum depth: 1992.552917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.925657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157599; longitude = -129.916071; duration = 402; initialDepth = 1921.920079; finalDepth = 1916.925657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.9062385842899 # Actual altitude: 94.9062385842899 # Commanded vehicle depth: 1916.92565672198 # Seafloor depth: -1992.552917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.163789 meters # Minimum depth: 1971.920079 meters looking forward 100.000000 meters along route # Maximum depth: 1979.117281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.920079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158336; longitude = -129.915314; duration = 412; initialDepth = 1914.268463; finalDepth = 1921.920079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6272602780223 # Actual altitude: 75.6272602780223 # Commanded vehicle depth: 1921.920079 # Seafloor depth: -1978.914885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.604530 meters # Minimum depth: 1964.268463 meters looking forward 100.000000 meters along route # Maximum depth: 1972.237287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.268463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159091; longitude = -129.914537; duration = 422; initialDepth = 1914.006295; finalDepth = 1914.268463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9688239999998 # Actual altitude: 57.9688239999998 # Commanded vehicle depth: 1914.268463 # Seafloor depth: -1972.237287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.721610 meters # Minimum depth: 1964.006295 meters looking forward 100.000000 meters along route # Maximum depth: 1971.326174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.006295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159865; longitude = -129.913742; duration = 402; initialDepth = 1904.887720; finalDepth = 1914.006295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9688239999998 # Actual altitude: 57.9688239999998 # Commanded vehicle depth: 1914.006295 # Seafloor depth: -1966.721902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.162352 meters # Minimum depth: 1954.887720 meters looking forward 100.000000 meters along route # Maximum depth: 1973.052894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.887720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160602; longitude = -129.912984; duration = 412; initialDepth = 1889.237655; finalDepth = 1904.887720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.323533 # Actual altitude: 66.323533 # Commanded vehicle depth: 1904.88772 # Seafloor depth: -1971.211253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.457377 meters # Minimum depth: 1939.237655 meters looking forward 100.000000 meters along route # Maximum depth: 1954.967848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.237655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161358; longitude = -129.912207; duration = 421; initialDepth = 1884.797592; finalDepth = 1889.237655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.323533 # Actual altitude: 66.323533 # Commanded vehicle depth: 1889.237655 # Seafloor depth: -1954.967848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.865890 meters # Minimum depth: 1934.797592 meters looking forward 100.000000 meters along route # Maximum depth: 1947.442412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.797592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162130; longitude = -129.911413; duration = 403; initialDepth = 1878.929602; finalDepth = 1884.797592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7301930000001 # Actual altitude: 65.7301930000001 # Commanded vehicle depth: 1884.797592 # Seafloor depth: -1939.274962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.160916 meters # Minimum depth: 1928.929602 meters looking forward 100.000000 meters along route # Maximum depth: 1943.484548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.929602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162868; longitude = -129.910654; duration = 412; initialDepth = 1893.548542; finalDepth = 1878.929602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.629267 # Actual altitude: 55.629267 # Commanded vehicle depth: 1878.929602 # Seafloor depth: -1934.558869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.310226 meters # Minimum depth: 1943.548542 meters looking forward 100.000000 meters along route # Maximum depth: 1981.895968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.548542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163624; longitude = -129.909877; duration = 421; initialDepth = 1923.440967; finalDepth = 1893.548542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.629267 # Actual altitude: 55.629267 # Commanded vehicle depth: 1893.548542 # Seafloor depth: -1943.548542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.184787 meters # Minimum depth: 1973.440967 meters looking forward 100.000000 meters along route # Maximum depth: 1978.995129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1923.440967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164395; longitude = -129.909084; duration = 416; initialDepth = 1905.866340; finalDepth = 1923.440967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.956578 # Actual altitude: 54.956578 # Commanded vehicle depth: 1923.440967 # Seafloor depth: -1978.397545 # 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; } # ####################################################### # # 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 149.962837 meters # Minimum depth: 1955.866340 meters looking forward 100.000000 meters along route # Maximum depth: 1984.873749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.866340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165158; longitude = -129.908300; duration = 599; # abortOnTimeout = True; initialDepth = 1923.207241; finalDepth = 1905.866340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.409173 # Actual altitude: 69.409173 # Commanded vehicle depth: 1905.86634 # Seafloor depth: -1975.275513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.65; 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 28 # Segment length 87.669203 meters # Minimum depth: 1973.207241 meters looking forward 100.000000 meters along route # Maximum depth: 1994.401547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1923.207241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165943; longitude = -129.909880; duration = 350; # abortOnTimeout = True; initialDepth = 1938.532792; finalDepth = 1923.207241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.409173 # Actual altitude: 69.409173 # Commanded vehicle depth: 1923.207241 # Seafloor depth: -1983.317413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.993480 meters # Minimum depth: 1988.532792 meters looking forward 100.000000 meters along route # Maximum depth: 1995.091074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1938.532792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165301; longitude = -129.910540; duration = 403; initialDepth = 1927.160132; finalDepth = 1938.532792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1101719999999 # Actual altitude: 60.1101719999999 # Commanded vehicle depth: 1938.532792 # Seafloor depth: -1995.017363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.108547 meters # Minimum depth: 1977.160132 meters looking forward 100.000000 meters along route # Maximum depth: 1989.117232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1927.160132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164562; longitude = -129.911301; duration = 412; initialDepth = 1925.712719; finalDepth = 1927.160132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9571000000001 # Actual altitude: 61.9571000000001 # Commanded vehicle depth: 1927.160132 # Seafloor depth: -1989.117232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.312745 meters # Minimum depth: 1975.712719 meters looking forward 100.000000 meters along route # Maximum depth: 1989.722817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.712719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163807; longitude = -129.912078; duration = 421; initialDepth = 1924.583864; finalDepth = 1925.712719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9571000000001 # Actual altitude: 61.9571000000001 # Commanded vehicle depth: 1925.712719 # Seafloor depth: -1977.782507 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.905785 meters # Minimum depth: 1974.583864 meters looking forward 100.000000 meters along route # Maximum depth: 1993.459602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.583864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163036; longitude = -129.912871; duration = 403; initialDepth = 1906.598804; finalDepth = 1924.583864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4153180000001 # Actual altitude: 65.4153180000001 # Commanded vehicle depth: 1924.583864 # Seafloor depth: -1989.999182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.109984 meters # Minimum depth: 1956.598804 meters looking forward 100.000000 meters along route # Maximum depth: 1973.276359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.598804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162297; longitude = -129.913631; duration = 412; initialDepth = 1902.930071; finalDepth = 1906.598804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.677555 # Actual altitude: 66.677555 # Commanded vehicle depth: 1906.598804 # Seafloor depth: -1973.276359 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.403314 meters # Minimum depth: 1952.930071 meters looking forward 100.000000 meters along route # Maximum depth: 1963.491503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.930071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161542; longitude = -129.914408; duration = 421; initialDepth = 1906.694635; finalDepth = 1902.930071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.677555 # Actual altitude: 66.677555 # Commanded vehicle depth: 1902.930071 # Seafloor depth: -1957.535215 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.818089 meters # Minimum depth: 1956.694635 meters looking forward 100.000000 meters along route # Maximum depth: 1966.137272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.694635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160771; longitude = -129.915202; duration = 403; initialDepth = 1903.389618; finalDepth = 1906.694635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6051440000001 # Actual altitude: 54.6051440000001 # Commanded vehicle depth: 1906.694635 # Seafloor depth: -1958.445499 # 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 28 # Segment length 103.111420 meters # Minimum depth: 1953.389618 meters looking forward 100.000000 meters along route # Maximum depth: 1969.278769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.389618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160033; longitude = -129.915961; duration = 412; initialDepth = 1901.611761; finalDepth = 1903.389618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.696674 # Actual altitude: 62.696674 # Commanded vehicle depth: 1903.389618 # Seafloor depth: -1966.086292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.493886 meters # Minimum depth: 1951.611761 meters looking forward 100.000000 meters along route # Maximum depth: 1961.311764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1901.611761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159278; longitude = -129.916738; duration = 421; initialDepth = 1896.101077; finalDepth = 1901.611761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.696674 # Actual altitude: 62.696674 # Commanded vehicle depth: 1901.611761 # Seafloor depth: -1953.473090 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.730390 meters # Minimum depth: 1946.101077 meters looking forward 100.000000 meters along route # Maximum depth: 1959.482216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.101077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158505; longitude = -129.917532; duration = 402; initialDepth = 1888.121502; finalDepth = 1896.101077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3811390000001 # Actual altitude: 63.3811390000001 # Commanded vehicle depth: 1896.101077 # Seafloor depth: -1959.482216 # 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 28 # Segment length 103.112856 meters # Minimum depth: 1938.121502 meters looking forward 100.000000 meters along route # Maximum depth: 1953.854140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.121502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157768; longitude = -129.918291; duration = 412; initialDepth = 1842.173814; finalDepth = 1888.121502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3811390000001 # Actual altitude: 63.3811390000001 # Commanded vehicle depth: 1888.121502 # Seafloor depth: -1946.975051 # 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 28 # Segment length 105.584461 meters # Minimum depth: 1892.173814 meters looking forward 100.000000 meters along route # Maximum depth: 1940.519622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.173814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157013; longitude = -129.919068; duration = 422; initialDepth = 1835.795903; finalDepth = 1842.173814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.345808 # Actual altitude: 98.345808 # Commanded vehicle depth: 1842.173814 # Seafloor depth: -1940.519622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.642689 meters # Minimum depth: 1885.795903 meters looking forward 100.000000 meters along route # Maximum depth: 1892.503163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.795903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156240; longitude = -129.919863; duration = 402; initialDepth = 1836.852503; finalDepth = 1835.795903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.345808 # Actual altitude: 98.345808 # Commanded vehicle depth: 1835.795903 # Seafloor depth: -1892.200247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 59.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.114293 meters # Minimum depth: 1886.852503 meters looking forward 100.000000 meters along route # Maximum depth: 1892.392001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.852503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155503; longitude = -129.920621; duration = 412; initialDepth = 1840.627610; finalDepth = 1836.852503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.404344 # Actual altitude: 56.404344 # Commanded vehicle depth: 1836.852503 # Seafloor depth: -1887.319846 # 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 28 # Segment length 105.675038 meters # Minimum depth: 1890.627610 meters looking forward 100.000000 meters along route # Maximum depth: 1895.982540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.627610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154748; longitude = -129.921398; duration = 422; initialDepth = 1838.219421; finalDepth = 1840.627610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.882286 # Actual altitude: 51.882286 # Commanded vehicle depth: 1840.62761 # Seafloor depth: -1892.509896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.554985 meters # Minimum depth: 1888.219421 meters looking forward 100.000000 meters along route # Maximum depth: 1897.836223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.219421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153975; longitude = -129.922194; duration = 402; initialDepth = 1837.834826; finalDepth = 1838.219421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9086480000001 # Actual altitude: 56.9086480000001 # Commanded vehicle depth: 1838.219421 # Seafloor depth: -1895.128069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.115730 meters # Minimum depth: 1887.834826 meters looking forward 100.000000 meters along route # Maximum depth: 1907.854013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.834826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153239; longitude = -129.922951; duration = 412; initialDepth = 1854.319141; finalDepth = 1837.834826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9086480000001 # Actual altitude: 56.9086480000001 # Commanded vehicle depth: 1837.834826 # Seafloor depth: -1887.917273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.765618 meters # Minimum depth: 1904.319141 meters looking forward 100.000000 meters along route # Maximum depth: 1908.159465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.319141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152484; longitude = -129.923728; duration = 423; initialDepth = 1808.796027; finalDepth = 1854.319141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.462677 # Actual altitude: 53.462677 # Commanded vehicle depth: 1854.319141 # Seafloor depth: -1907.781818 # 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 28 # Segment length 100.467278 meters # Minimum depth: 1858.796027 meters looking forward 100.000000 meters along route # Maximum depth: 1908.917292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.796027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151710; longitude = -129.924524; duration = 401; initialDepth = 1779.893249; finalDepth = 1808.796027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.5186269999999 # Actual altitude: 96.5186269999999 # Commanded vehicle depth: 1808.796027 # Seafloor depth: -1905.314654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.117167 meters # Minimum depth: 1829.893249 meters looking forward 100.000000 meters along route # Maximum depth: 1856.738418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.893249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150974; longitude = -129.925281; duration = 412; initialDepth = 1759.529182; finalDepth = 1779.893249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.5186269999999 # Actual altitude: 96.5186269999999 # Commanded vehicle depth: 1779.893249 # Seafloor depth: -1856.464537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.856200 meters # Minimum depth: 1809.529182 meters looking forward 100.000000 meters along route # Maximum depth: 1829.890600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.529182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150219; longitude = -129.926058; duration = 423; initialDepth = 1742.798981; finalDepth = 1759.529182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5712880000001 # Actual altitude: 76.5712880000001 # Commanded vehicle depth: 1759.529182 # Seafloor depth: -1829.890600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.379570 meters # Minimum depth: 1792.798981 meters looking forward 100.000000 meters along route # Maximum depth: 1810.390855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.798981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149444; longitude = -129.926855; duration = 401; initialDepth = 1726.819198; finalDepth = 1742.798981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.361418 # Actual altitude: 70.361418 # Commanded vehicle depth: 1742.798981 # Seafloor depth: -1810.385790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.118603 meters # Minimum depth: 1776.819198 meters looking forward 100.000000 meters along route # Maximum depth: 1806.596764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.819198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148709; longitude = -129.927611; duration = 412; initialDepth = 1710.219306; finalDepth = 1726.819198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.2431240000001 # Actual altitude: 74.2431240000001 # Commanded vehicle depth: 1726.819198 # Seafloor depth: -1801.062322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 105.946785 meters # Minimum depth: 1760.219306 meters looking forward 100.000000 meters along route # Maximum depth: 1779.106730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.219306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147955; longitude = -129.928388; duration = 423; initialDepth = 1725.847567; finalDepth = 1710.219306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.2431240000001 # Actual altitude: 74.2431240000001 # Commanded vehicle depth: 1710.219306 # Seafloor depth: -1778.094911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.291859 meters # Minimum depth: 1775.847567 meters looking forward 100.000000 meters along route # Maximum depth: 1824.632705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.847567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147179; longitude = -129.929186; duration = 401; initialDepth = 1762.350818; finalDepth = 1725.847567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.875605 # Actual altitude: 67.875605 # Commanded vehicle depth: 1725.847567 # Seafloor depth: -1775.847567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.120040 meters # Minimum depth: 1827.159806 meters looking forward 100.000000 meters along route # Maximum depth: 1897.690573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.350818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146445; longitude = -129.929941; duration = 412; initialDepth = 1799.883442; finalDepth = 1762.350818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8089882610716 # Actual altitude: 64.8089882610716 # Commanded vehicle depth: 1762.35081773893 # Seafloor depth: -1827.159806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.037373 meters # Minimum depth: 1879.927429 meters looking forward 100.000000 meters along route # Maximum depth: 1897.692230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.883442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145690; longitude = -129.930718; duration = 424; initialDepth = 1827.090373; finalDepth = 1799.883442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.8087878400904 # Actual altitude: 97.8087878400904 # Commanded vehicle depth: 1799.88344215991 # Seafloor depth: -1897.692230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.204145 meters # Minimum depth: 1877.090373 meters looking forward 100.000000 meters along route # Maximum depth: 1882.758204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.090373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144914; longitude = -129.931516; duration = 400; initialDepth = 1836.435465; finalDepth = 1827.090373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.8087878400904 # Actual altitude: 97.8087878400904 # Commanded vehicle depth: 1827.090373 # Seafloor depth: -1881.361227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.150582 meters # Minimum depth: 1886.435465 meters looking forward 100.000000 meters along route # Maximum depth: 1912.840246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.435465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144180; longitude = -129.932271; duration = 412; initialDepth = 1816.631899; finalDepth = 1836.435465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2708540000001 # Actual altitude: 54.2708540000001 # Commanded vehicle depth: 1836.435465 # Seafloor depth: -1886.435465 # 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 28 # Segment length 106.098858 meters # Minimum depth: 1866.631899 meters looking forward 100.000000 meters along route # Maximum depth: 1896.866203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.631899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143425; longitude = -129.933048; duration = 424; initialDepth = 1822.841867; finalDepth = 1816.631899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2343040000001 # Actual altitude: 80.2343040000001 # Commanded vehicle depth: 1816.631899 # Seafloor depth: -1896.866203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.116429 meters # Minimum depth: 1872.841867 meters looking forward 100.000000 meters along route # Maximum depth: 1880.722243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.841867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142649; longitude = -129.933847; duration = 400; initialDepth = 1816.079732; finalDepth = 1822.841867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2343040000001 # Actual altitude: 80.2343040000001 # Commanded vehicle depth: 1822.841867 # Seafloor depth: -1878.345705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.241133 meters # Minimum depth: 1866.079732 meters looking forward 100.000000 meters along route # Maximum depth: 1874.166942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.079732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141916; longitude = -129.934601; duration = 412; initialDepth = 1817.326704; finalDepth = 1816.079732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0909810000001 # Actual altitude: 57.0909810000001 # Commanded vehicle depth: 1816.079732 # Seafloor depth: -1873.170713 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 106.100337 meters # Minimum depth: 1867.326704 meters looking forward 100.000000 meters along route # Maximum depth: 1868.732846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.326704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141160; longitude = -129.935379; duration = 424; initialDepth = 1816.339673; finalDepth = 1817.326704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0909810000001 # Actual altitude: 57.0909810000001 # Commanded vehicle depth: 1817.326704 # Seafloor depth: -1868.348231 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.028711 meters # Minimum depth: 1866.339673 meters looking forward 100.000000 meters along route # Maximum depth: 1868.523620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.339673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140383; longitude = -129.936178; duration = 400; initialDepth = 1812.042366; finalDepth = 1816.339673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0215269999999 # Actual altitude: 51.0215269999999 # Commanded vehicle depth: 1816.339673 # Seafloor depth: -1867.356355 # 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 28 # Segment length 103.331685 meters # Minimum depth: 1862.042366 meters looking forward 100.000000 meters along route # Maximum depth: 1870.300969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.042366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139651; longitude = -129.936931; duration = 413; initialDepth = 1797.208277; finalDepth = 1812.042366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6434290000002 # Actual altitude: 56.6434290000002 # Commanded vehicle depth: 1812.042366 # Seafloor depth: -1868.685795 # 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 28 # Segment length 102.917497 meters # Minimum depth: 1847.208277 meters looking forward 100.000000 meters along route # Maximum depth: 1863.356193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.208277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138895; longitude = -129.937709; duration = 411; initialDepth = 1810.940847; finalDepth = 1797.208277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8666700000001 # Actual altitude: 64.8666700000001 # Commanded vehicle depth: 1797.208277 # Seafloor depth: -1862.074947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.125310 meters # Minimum depth: 1860.940847 meters looking forward 100.000000 meters along route # Maximum depth: 1873.089602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.940847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138141; longitude = -129.938484; duration = 412; initialDepth = 1822.216177; finalDepth = 1810.940847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8666700000001 # Actual altitude: 64.8666700000001 # Commanded vehicle depth: 1810.940847 # Seafloor depth: -1863.251795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.422241 meters # Minimum depth: 1872.216177 meters looking forward 100.000000 meters along route # Maximum depth: 1893.884077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.216177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137386; longitude = -129.939261; duration = 413; initialDepth = 1827.705153; finalDepth = 1822.216177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3109479999998 # Actual altitude: 52.3109479999998 # Commanded vehicle depth: 1822.216177 # Seafloor depth: -1873.655717 # 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 102.829815 meters # Minimum depth: 1877.705153 meters looking forward 100.000000 meters along route # Maximum depth: 1891.490559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.705153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136629; longitude = -129.940040; duration = 411; initialDepth = 1818.596487; finalDepth = 1827.705153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9697679999999 # Actual altitude: 60.9697679999999 # Commanded vehicle depth: 1827.705153 # Seafloor depth: -1888.674921 # 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 28 # Segment length 103.126747 meters # Minimum depth: 1868.596487 meters looking forward 100.000000 meters along route # Maximum depth: 1877.622305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.596487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135877; longitude = -129.940814; duration = 412; initialDepth = 1812.122768; finalDepth = 1818.596487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9697679999999 # Actual altitude: 60.9697679999999 # Commanded vehicle depth: 1818.596487 # Seafloor depth: -1877.622305 # 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 28 # Segment length 103.512800 meters # Minimum depth: 1862.122768 meters looking forward 100.000000 meters along route # Maximum depth: 1868.318720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.122768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135122; longitude = -129.941591; duration = 414; initialDepth = 1812.400194; finalDepth = 1812.122768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0258180000001 # Actual altitude: 59.0258180000001 # Commanded vehicle depth: 1812.122768 # Seafloor depth: -1868.318720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.742132 meters # Minimum depth: 1862.400194 meters looking forward 100.000000 meters along route # Maximum depth: 1877.692877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.400194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134364; longitude = -129.942370; duration = 410; initialDepth = 1806.336677; finalDepth = 1812.400194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.195952 # Actual altitude: 56.195952 # Commanded vehicle depth: 1812.400194 # Seafloor depth: -1862.967902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.128184 meters # Minimum depth: 1856.336677 meters looking forward 100.000000 meters along route # Maximum depth: 1877.596640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.336677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133612; longitude = -129.943144; duration = 412; initialDepth = 1803.889351; finalDepth = 1806.336677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.961211 # Actual altitude: 69.961211 # Commanded vehicle depth: 1806.336677 # Seafloor depth: -1876.297888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.603361 meters # Minimum depth: 1853.889351 meters looking forward 100.000000 meters along route # Maximum depth: 1857.933794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.889351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132857; longitude = -129.943921; duration = 414; initialDepth = 1806.188951; finalDepth = 1803.889351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.961211 # Actual altitude: 69.961211 # Commanded vehicle depth: 1803.889351 # Seafloor depth: -1856.295610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.654445 meters # Minimum depth: 1856.188951 meters looking forward 100.000000 meters along route # Maximum depth: 1864.280255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.188951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132099; longitude = -129.944701; duration = 410; initialDepth = 1810.607739; finalDepth = 1806.188951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4062589999999 # Actual altitude: 52.4062589999999 # Commanded vehicle depth: 1806.188951 # Seafloor depth: -1856.188951 # 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 28 # Segment length 103.129622 meters # Minimum depth: 1860.607739 meters looking forward 100.000000 meters along route # Maximum depth: 1862.908286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.607739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131347; longitude = -129.945474; duration = 412; initialDepth = 1811.052960; finalDepth = 1810.607739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.380545 # Actual altitude: 51.380545 # Commanded vehicle depth: 1810.607739 # Seafloor depth: -1861.988284 # 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 28 # Segment length 103.693924 meters # Minimum depth: 1861.052960 meters looking forward 100.000000 meters along route # Maximum depth: 1862.459436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.052960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130593; longitude = -129.946251; duration = 414; initialDepth = 1803.259966; finalDepth = 1811.052960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.380545 # Actual altitude: 51.380545 # Commanded vehicle depth: 1811.05296 # Seafloor depth: -1861.703433 # 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 28 # Segment length 102.566757 meters # Minimum depth: 1853.259966 meters looking forward 100.000000 meters along route # Maximum depth: 1862.675267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.259966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129834; longitude = -129.947032; duration = 410; initialDepth = 1802.405912; finalDepth = 1803.259966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7588979999998 # Actual altitude: 58.7588979999998 # Commanded vehicle depth: 1803.259966 # Seafloor depth: -1862.018864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.131059 meters # Minimum depth: 1852.405912 meters looking forward 100.000000 meters along route # Maximum depth: 1855.673137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.405912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129083; longitude = -129.947804; duration = 412; initialDepth = 1801.487980; finalDepth = 1802.405912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7588979999998 # Actual altitude: 58.7588979999998 # Commanded vehicle depth: 1802.405912 # Seafloor depth: -1852.405912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 103.784490 meters # Minimum depth: 1851.487980 meters looking forward 100.000000 meters along route # Maximum depth: 1854.115328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.487980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128328; longitude = -129.948581; duration = 415; initialDepth = 1802.677169; finalDepth = 1801.487980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1973099999998 # Actual altitude: 52.1973099999998 # Commanded vehicle depth: 1801.48798 # Seafloor depth: -1853.685290 # 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 28 # Segment length 102.479066 meters # Minimum depth: 1852.677169 meters looking forward 100.000000 meters along route # Maximum depth: 1860.672074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.677169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127568; longitude = -129.949362; duration = 409; initialDepth = 1812.938610; finalDepth = 1802.677169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1973099999998 # Actual altitude: 52.1973099999998 # Commanded vehicle depth: 1802.677169 # Seafloor depth: -1853.215512 # 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 28 # Segment length 100.897371 meters # Minimum depth: 1862.938610 meters looking forward 100.000000 meters along route # Maximum depth: 1876.420047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.938610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126818; longitude = -129.950134; duration = 403; initialDepth = 1805.167596; finalDepth = 1812.938610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5383429999999 # Actual altitude: 50.5383429999999 # Commanded vehicle depth: 1812.93861 # Seafloor depth: -1862.938610 # 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 100.517135 meters # Minimum depth: 1855.167596 meters looking forward 100.000000 meters along route # Maximum depth: 1871.991000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.167596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126080; longitude = -129.950894; duration = 402; initialDepth = 1796.776321; finalDepth = 1805.167596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.4931590000001 # Actual altitude: 65.4931590000001 # Commanded vehicle depth: 1805.167596 # Seafloor depth: -1870.660755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.30; 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 149.972097 meters # Minimum depth: 1846.776321 meters looking forward 100.000000 meters along route # Maximum depth: 1876.351963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.776321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125344; longitude = -129.951651; duration = 599; # abortOnTimeout = True; initialDepth = 1813.666023; finalDepth = 1796.776321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.4931590000001 # Actual altitude: 65.4931590000001 # Commanded vehicle depth: 1796.776321 # Seafloor depth: -1855.816711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.30; 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 75.911614 meters # Minimum depth: 1863.666023 meters looking forward 100.000000 meters along route # Maximum depth: 1887.493225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.666023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126129; longitude = -129.953230; duration = 303; # abortOnTimeout = True; initialDepth = 1825.807207; finalDepth = 1813.666023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2868880000001 # Actual altitude: 63.2868880000001 # Commanded vehicle depth: 1813.666023 # Seafloor depth: -1876.952911 # 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 26 # Segment length 103.137083 meters # Minimum depth: 1875.807207 meters looking forward 100.000000 meters along route # Maximum depth: 1892.393141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.807207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126685; longitude = -129.952658; duration = 412; initialDepth = 1804.093289; finalDepth = 1825.807207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2868880000001 # Actual altitude: 63.2868880000001 # Commanded vehicle depth: 1825.807207 # Seafloor depth: -1888.250928 # 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 26 # Segment length 106.012613 meters # Minimum depth: 1854.093289 meters looking forward 100.000000 meters along route # Maximum depth: 1875.765753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.093289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127440; longitude = -129.951882; duration = 424; initialDepth = 1798.656860; finalDepth = 1804.093289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.672464 # Actual altitude: 71.672464 # Commanded vehicle depth: 1804.093289 # Seafloor depth: -1875.765753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.260117 meters # Minimum depth: 1848.656860 meters looking forward 100.000000 meters along route # Maximum depth: 1854.177304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.656860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128216; longitude = -129.951083; duration = 401; initialDepth = 1797.672641; finalDepth = 1798.656860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.672464 # Actual altitude: 71.672464 # Commanded vehicle depth: 1798.65686 # Seafloor depth: -1854.177304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.135646 meters # Minimum depth: 1847.672641 meters looking forward 100.000000 meters along route # Maximum depth: 1851.920020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.672641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128949; longitude = -129.950328; duration = 412; initialDepth = 1797.671786; finalDepth = 1797.672641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.520444 # Actual altitude: 55.520444 # Commanded vehicle depth: 1797.672641 # Seafloor depth: -1851.876141 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.077817 meters # Minimum depth: 1847.671786 meters looking forward 100.000000 meters along route # Maximum depth: 1852.377880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.671786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129704; longitude = -129.949552; duration = 424; initialDepth = 1803.129215; finalDepth = 1797.671786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2034999999998 # Actual altitude: 54.2034999999998 # Commanded vehicle depth: 1797.671786 # Seafloor depth: -1847.671786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.192038 meters # Minimum depth: 1853.129215 meters looking forward 100.000000 meters along route # Maximum depth: 1860.306589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.129215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130481; longitude = -129.948753; duration = 400; initialDepth = 1805.489289; finalDepth = 1803.129215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1803.129215 # Seafloor depth: -1853.129215 # 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 103.173966 meters # Minimum depth: 1855.489289 meters looking forward 100.000000 meters along route # Maximum depth: 1859.247654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.489289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131214; longitude = -129.947998; duration = 412; initialDepth = 1804.014489; finalDepth = 1805.489289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7965899999999 # Actual altitude: 52.7965899999999 # Commanded vehicle depth: 1805.489289 # Seafloor depth: -1858.285879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.103262 meters # Minimum depth: 1854.014489 meters looking forward 100.000000 meters along route # Maximum depth: 1856.667377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.014489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131969; longitude = -129.947221; duration = 424; initialDepth = 1799.068856; finalDepth = 1804.014489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7965899999999 # Actual altitude: 52.7965899999999 # Commanded vehicle depth: 1804.014489 # Seafloor depth: -1855.485723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 100.123960 meters # Minimum depth: 1849.068856 meters looking forward 100.000000 meters along route # Maximum depth: 1855.369509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.068856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132746; longitude = -129.946422; duration = 400; initialDepth = 1799.803995; finalDepth = 1799.068856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2187269999999 # Actual altitude: 56.2187269999999 # Commanded vehicle depth: 1799.068856 # Seafloor depth: -1855.287583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.239208 meters # Minimum depth: 1849.803995 meters looking forward 100.000000 meters along route # Maximum depth: 1854.309103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.803995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133479; longitude = -129.945668; duration = 412; initialDepth = 1801.352927; finalDepth = 1799.803995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2187269999999 # Actual altitude: 56.2187269999999 # Commanded vehicle depth: 1799.803995 # Seafloor depth: -1849.803995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.101783 meters # Minimum depth: 1851.352927 meters looking forward 100.000000 meters along route # Maximum depth: 1853.444985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.352927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134235; longitude = -129.944891; duration = 424; initialDepth = 1802.822169; finalDepth = 1801.352927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0920580000002 # Actual altitude: 52.0920580000002 # Commanded vehicle depth: 1801.352927 # Seafloor depth: -1853.444985 # 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 26 # Segment length 100.055885 meters # Minimum depth: 1852.822169 meters looking forward 100.000000 meters along route # Maximum depth: 1862.696643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.822169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135011; longitude = -129.944092; duration = 400; initialDepth = 1813.356570; finalDepth = 1802.822169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0920580000002 # Actual altitude: 52.0920580000002 # Commanded vehicle depth: 1802.822169 # Seafloor depth: -1852.822169 # 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 26 # Segment length 103.304449 meters # Minimum depth: 1863.356570 meters looking forward 100.000000 meters along route # Maximum depth: 1883.556518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.356570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135744; longitude = -129.943338; duration = 413; initialDepth = 1816.874995; finalDepth = 1813.356570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1813.35657 # Seafloor depth: -1863.356570 # 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 102.957739 meters # Minimum depth: 1866.874995 meters looking forward 100.000000 meters along route # Maximum depth: 1882.583079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.874995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136500; longitude = -129.942560; duration = 411; initialDepth = 1797.652041; finalDepth = 1816.874995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7080840000001 # Actual altitude: 65.7080840000001 # Commanded vehicle depth: 1816.874995 # Seafloor depth: -1882.583079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.130375 meters # Minimum depth: 1847.652041 meters looking forward 100.000000 meters along route # Maximum depth: 1866.658641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.652041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137254; longitude = -129.941785; duration = 412; initialDepth = 1788.226829; finalDepth = 1797.652041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1150969999999 # Actual altitude: 67.1150969999999 # Commanded vehicle depth: 1797.652041 # Seafloor depth: -1864.767138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.369688 meters # Minimum depth: 1838.226829 meters looking forward 100.000000 meters along route # Maximum depth: 1848.519440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.226829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138009; longitude = -129.941008; duration = 413; initialDepth = 1770.863762; finalDepth = 1788.226829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1150969999999 # Actual altitude: 67.1150969999999 # Commanded vehicle depth: 1788.226829 # Seafloor depth: -1848.105673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.889625 meters # Minimum depth: 1820.863762 meters looking forward 100.000000 meters along route # Maximum depth: 1838.219670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.863762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138765; longitude = -129.940230; duration = 411; initialDepth = 1760.194744; finalDepth = 1770.863762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.355908 # Actual altitude: 67.355908 # Commanded vehicle depth: 1770.863762 # Seafloor depth: -1838.219670 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.128938 meters # Minimum depth: 1810.194744 meters looking forward 100.000000 meters along route # Maximum depth: 1825.258808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.194744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139518; longitude = -129.939455; duration = 412; initialDepth = 1774.866655; finalDepth = 1760.194744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.355908 # Actual altitude: 67.355908 # Commanded vehicle depth: 1760.194744 # Seafloor depth: -1820.760342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.434925 meters # Minimum depth: 1824.866655 meters looking forward 100.000000 meters along route # Maximum depth: 1867.149090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.866655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140273; longitude = -129.938678; duration = 413; initialDepth = 1795.654372; finalDepth = 1774.866655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5655980000001 # Actual altitude: 60.5655980000001 # Commanded vehicle depth: 1774.866655 # Seafloor depth: -1824.866655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.821514 meters # Minimum depth: 1845.654372 meters looking forward 100.000000 meters along route # Maximum depth: 1861.943438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.654372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141030; longitude = -129.937899; duration = 411; initialDepth = 1793.103157; finalDepth = 1795.654372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1495810000001 # Actual altitude: 57.1495810000001 # Commanded vehicle depth: 1795.654372 # Seafloor depth: -1852.803953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.127501 meters # Minimum depth: 1843.103157 meters looking forward 100.000000 meters along route # Maximum depth: 1846.539741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.103157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141783; longitude = -129.937125; duration = 412; initialDepth = 1789.469802; finalDepth = 1793.103157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1495810000001 # Actual altitude: 57.1495810000001 # Commanded vehicle depth: 1793.103157 # Seafloor depth: -1845.997428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.500160 meters # Minimum depth: 1839.469802 meters looking forward 100.000000 meters along route # Maximum depth: 1847.809612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.469802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142538; longitude = -129.936348; duration = 414; initialDepth = 1789.290342; finalDepth = 1789.469802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.916561 # Actual altitude: 53.916561 # Commanded vehicle depth: 1789.469802 # Seafloor depth: -1843.386363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.753404 meters # Minimum depth: 1839.290342 meters looking forward 100.000000 meters along route # Maximum depth: 1850.233707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.290342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143296; longitude = -129.935569; duration = 411; initialDepth = 1800.842941; finalDepth = 1789.290342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9183869999999 # Actual altitude: 55.9183869999999 # Commanded vehicle depth: 1789.290342 # Seafloor depth: -1845.208729 # 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 26 # Segment length 103.126064 meters # Minimum depth: 1850.842941 meters looking forward 100.000000 meters along route # Maximum depth: 1883.005692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.842941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144048; longitude = -129.934795; duration = 412; initialDepth = 1820.646257; finalDepth = 1800.842941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9183869999999 # Actual altitude: 55.9183869999999 # Commanded vehicle depth: 1800.842941 # Seafloor depth: -1850.842941 # 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 26 # Segment length 103.565393 meters # Minimum depth: 1870.646257 meters looking forward 100.000000 meters along route # Maximum depth: 1884.030212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.646257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144803; longitude = -129.934018; duration = 414; initialDepth = 1824.679248; finalDepth = 1820.646257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8739909999999 # Actual altitude: 55.8739909999999 # Commanded vehicle depth: 1820.646257 # Seafloor depth: -1876.520248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.685297 meters # Minimum depth: 1874.679248 meters looking forward 100.000000 meters along route # Maximum depth: 1883.502810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.679248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145561; longitude = -129.933238; duration = 410; initialDepth = 1787.099521; finalDepth = 1824.679248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4200820000001 # Actual altitude: 58.4200820000001 # Commanded vehicle depth: 1824.679248 # Seafloor depth: -1883.099330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.124626 meters # Minimum depth: 1837.099521 meters looking forward 100.000000 meters along route # Maximum depth: 1875.635204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.099521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146313; longitude = -129.932465; duration = 412; initialDepth = 1745.960182; finalDepth = 1787.099521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.4848559999998 # Actual altitude: 85.4848559999998 # Commanded vehicle depth: 1787.099521 # Seafloor depth: -1872.584377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.630626 meters # Minimum depth: 1795.960182 meters looking forward 100.000000 meters along route # Maximum depth: 1833.091407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.960182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147068; longitude = -129.931688; duration = 414; initialDepth = 1724.195791; finalDepth = 1745.960182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.256106 # Actual altitude: 86.256106 # Commanded vehicle depth: 1745.960182 # Seafloor depth: -1832.216288 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.617190 meters # Minimum depth: 1774.195791 meters looking forward 100.000000 meters along route # Maximum depth: 1799.323135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.195791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147826; longitude = -129.930908; duration = 410; initialDepth = 1697.609849; finalDepth = 1724.195791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.256106 # Actual altitude: 86.256106 # Commanded vehicle depth: 1724.195791 # Seafloor depth: -1799.323135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.123189 meters # Minimum depth: 1747.609849 meters looking forward 100.000000 meters along route # Maximum depth: 1775.964884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.609849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148577; longitude = -129.930135; duration = 412; initialDepth = 1699.035999; finalDepth = 1697.609849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.355035 # Actual altitude: 78.355035 # Commanded vehicle depth: 1697.609849 # Seafloor depth: -1775.964884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.695856 meters # Minimum depth: 1749.035999 meters looking forward 100.000000 meters along route # Maximum depth: 1815.153870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.035999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149332; longitude = -129.929358; duration = 414; initialDepth = 1736.778203; finalDepth = 1699.035999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.355035 # Actual altitude: 78.355035 # Commanded vehicle depth: 1699.035999 # Seafloor depth: -1749.035999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.549086 meters # Minimum depth: 1813.160629 meters looking forward 100.000000 meters along route # Maximum depth: 1859.315721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.778203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150092; longitude = -129.928578; duration = 410; initialDepth = 1774.103017; finalDepth = 1736.778203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3798896984886 # Actual altitude: 78.3798896984886 # Commanded vehicle depth: 1736.77820330151 # Seafloor depth: -1815.158093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.121753 meters # Minimum depth: 1861.294833 meters looking forward 100.000000 meters along route # Maximum depth: 1898.917727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.103017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150842; longitude = -129.927805; duration = 412; initialDepth = 1811.636265; finalDepth = 1774.103017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.191815534796 # Actual altitude: 87.191815534796 # Commanded vehicle depth: 1774.1030174652 # Seafloor depth: -1861.294833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.761083 meters # Minimum depth: 1900.172549 meters looking forward 100.000000 meters along route # Maximum depth: 1916.048789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.636265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151597; longitude = -129.927029; duration = 415; initialDepth = 1849.402210; finalDepth = 1811.636265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.5362836328184 # Actual altitude: 88.5362836328184 # Commanded vehicle depth: 1811.63626536718 # Seafloor depth: -1900.172549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.480985 meters # Minimum depth: 1912.788428 meters looking forward 100.000000 meters along route # Maximum depth: 1925.053689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.402210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152357; longitude = -129.926247; duration = 409; initialDepth = 1868.493625; finalDepth = 1849.402210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.5362836328184 # Actual altitude: 88.5362836328184 # Commanded vehicle depth: 1849.40221035472 # Seafloor depth: -1915.917162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.120315 meters # Minimum depth: 1918.493625 meters looking forward 100.000000 meters along route # Maximum depth: 1926.586739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.493625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153107; longitude = -129.925475; duration = 412; initialDepth = 1872.512856; finalDepth = 1868.493625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5149516452766 # Actual altitude: 66.5149516452766 # Commanded vehicle depth: 1868.493625 # Seafloor depth: -1922.349243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.826310 meters # Minimum depth: 1922.512856 meters looking forward 100.000000 meters along route # Maximum depth: 1941.992833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.512856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153862; longitude = -129.924699; duration = 415; initialDepth = 1883.187954; finalDepth = 1872.512856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8556179999998 # Actual altitude: 53.8556179999998 # Commanded vehicle depth: 1872.512856 # Seafloor depth: -1923.907396 # 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 26 # Segment length 102.412885 meters # Minimum depth: 1933.187954 meters looking forward 100.000000 meters along route # Maximum depth: 1943.260383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.187954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154622; longitude = -129.923917; duration = 409; initialDepth = 1885.859942; finalDepth = 1883.187954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.980953 # Actual altitude: 58.980953 # Commanded vehicle depth: 1883.187954 # Seafloor depth: -1942.168907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.118878 meters # Minimum depth: 1935.859942 meters looking forward 100.000000 meters along route # Maximum depth: 1960.676383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.859942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155372; longitude = -129.923145; duration = 412; initialDepth = 1883.526844; finalDepth = 1885.859942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.980953 # Actual altitude: 58.980953 # Commanded vehicle depth: 1885.859942 # Seafloor depth: -1935.859942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.891535 meters # Minimum depth: 1933.526844 meters looking forward 100.000000 meters along route # Maximum depth: 1957.694993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1883.526844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156127; longitude = -129.922369; duration = 415; initialDepth = 1869.916806; finalDepth = 1883.526844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.293721 # Actual altitude: 71.293721 # Commanded vehicle depth: 1883.526844 # Seafloor depth: -1954.820565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.344786 meters # Minimum depth: 1919.916806 meters looking forward 100.000000 meters along route # Maximum depth: 1942.049737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.916806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156887; longitude = -129.921586; duration = 409; initialDepth = 1862.380103; finalDepth = 1869.916806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.1329310000001 # Actual altitude: 72.1329310000001 # Commanded vehicle depth: 1869.916806 # Seafloor depth: -1942.049737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.117442 meters # Minimum depth: 1912.380103 meters looking forward 100.000000 meters along route # Maximum depth: 1948.490133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.380103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157637; longitude = -129.920815; duration = 412; initialDepth = 1899.911782; finalDepth = 1862.380103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.1329310000001 # Actual altitude: 72.1329310000001 # Commanded vehicle depth: 1862.380103 # Seafloor depth: -1917.636029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.956758 meters # Minimum depth: 1950.765830 meters looking forward 100.000000 meters along route # Maximum depth: 1963.109141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.911782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158392; longitude = -129.920039; duration = 415; initialDepth = 1905.665644; finalDepth = 1899.911782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.255926 # Actual altitude: 55.255926 # Commanded vehicle depth: 1899.91178182633 # Seafloor depth: -1950.765830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.276690 meters # Minimum depth: 1955.665644 meters looking forward 100.000000 meters along route # Maximum depth: 1965.707212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.665644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159153; longitude = -129.919256; duration = 409; initialDepth = 1890.294673; finalDepth = 1905.665644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.969691 # Actual altitude: 56.969691 # Commanded vehicle depth: 1905.665644 # Seafloor depth: -1962.635335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.116005 meters # Minimum depth: 1940.294673 meters looking forward 100.000000 meters along route # Maximum depth: 1954.615195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.294673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159901; longitude = -129.918485; duration = 412; initialDepth = 1862.000671; finalDepth = 1890.294673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.320522 # Actual altitude: 64.320522 # Commanded vehicle depth: 1890.294673 # Seafloor depth: -1954.615195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.021978 meters # Minimum depth: 1912.000671 meters looking forward 100.000000 meters along route # Maximum depth: 1938.628130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.000671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160656; longitude = -129.917709; duration = 416; initialDepth = 1857.990988; finalDepth = 1862.000671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.627459 # Actual altitude: 76.627459 # Commanded vehicle depth: 1862.000671 # Seafloor depth: -1938.628130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.208596 meters # Minimum depth: 1907.990988 meters looking forward 100.000000 meters along route # Maximum depth: 1912.048795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.990988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161418; longitude = -129.916925; duration = 408; initialDepth = 1857.663194; finalDepth = 1857.990988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.627459 # Actual altitude: 76.627459 # Commanded vehicle depth: 1857.990988 # Seafloor depth: -1912.048795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 103.114569 meters # Minimum depth: 1907.663194 meters looking forward 100.000000 meters along route # Maximum depth: 1909.672225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.663194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162166; longitude = -129.916155; duration = 412; initialDepth = 1857.883010; finalDepth = 1857.663194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0578069999999 # Actual altitude: 54.0578069999999 # Commanded vehicle depth: 1857.663194 # Seafloor depth: -1909.633947 # 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 26 # Segment length 104.087197 meters # Minimum depth: 1907.883010 meters looking forward 100.000000 meters along route # Maximum depth: 1939.493697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.883010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162921; longitude = -129.915379; duration = 416; initialDepth = 1890.955039; finalDepth = 1857.883010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9707530000001 # Actual altitude: 51.9707530000001 # Commanded vehicle depth: 1857.88301 # Seafloor depth: -1907.883010 # 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 26 # Segment length 102.140504 meters # Minimum depth: 1940.955039 meters looking forward 100.000000 meters along route # Maximum depth: 1967.775564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.955039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163683; longitude = -129.914595; duration = 408; initialDepth = 1900.447337; finalDepth = 1890.955039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1890.955039 # Seafloor depth: -1940.955039 # 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 103.113132 meters # Minimum depth: 1950.447337 meters looking forward 100.000000 meters along route # Maximum depth: 1969.844649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.447337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164431; longitude = -129.913825; duration = 412; initialDepth = 1880.715157; finalDepth = 1900.447337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.026374 # Actual altitude: 66.026374 # Commanded vehicle depth: 1900.447337 # Seafloor depth: -1966.473711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 104.152415 meters # Minimum depth: 1930.715157 meters looking forward 100.000000 meters along route # Maximum depth: 1956.381590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.715157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165186; longitude = -129.913049; duration = 416; initialDepth = 1880.734183; finalDepth = 1880.715157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.9355459999999 # Actual altitude: 68.9355459999999 # Commanded vehicle depth: 1880.715157 # Seafloor depth: -1949.650703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.622309 meters # Minimum depth: 1930.734183 meters looking forward 100.000000 meters along route # Maximum depth: 1948.488986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.734183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165948; longitude = -129.912264; duration = 426; initialDepth = 1880.279769; finalDepth = 1880.734183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.9355459999999 # Actual altitude: 68.9355459999999 # Commanded vehicle depth: 1880.734183 # Seafloor depth: -1930.734183 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.36; 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 25 # Segment length 149.960090 meters # Minimum depth: 1930.279769 meters looking forward 100.000000 meters along route # Maximum depth: 1947.025848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.279769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166729; longitude = -129.911461; duration = 599; # abortOnTimeout = True; initialDepth = 1881.967666; finalDepth = 1880.279769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.746079 # Actual altitude: 66.746079 # Commanded vehicle depth: 1880.279769 # Seafloor depth: -1947.025848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 81.240475 meters # Minimum depth: 1931.967666 meters looking forward 100.000000 meters along route # Maximum depth: 1934.607349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.967666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167514; longitude = -129.913041; duration = 324; # abortOnTimeout = True; initialDepth = 1879.866876; finalDepth = 1881.967666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.746079 # Actual altitude: 66.746079 # Commanded vehicle depth: 1881.967666 # Seafloor depth: -1934.439026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.213619 meters # Minimum depth: 1929.866876 meters looking forward 100.000000 meters along route # Maximum depth: 1935.301973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.866876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166919; longitude = -129.913653; duration = 400; initialDepth = 1875.372607; finalDepth = 1879.866876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.47136 # Actual altitude: 52.47136 # Commanded vehicle depth: 1879.866876 # Seafloor depth: -1931.058947 # 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 24 # Segment length 103.112531 meters # Minimum depth: 1925.372607 meters looking forward 100.000000 meters along route # Maximum depth: 1939.306880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.372607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166185; longitude = -129.914408; duration = 412; initialDepth = 1871.702572; finalDepth = 1875.372607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.856632 # Actual altitude: 60.856632 # Commanded vehicle depth: 1875.372607 # Seafloor depth: -1936.229239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.078152 meters # Minimum depth: 1921.702572 meters looking forward 100.000000 meters along route # Maximum depth: 1930.708977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.702572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165431; longitude = -129.915184; duration = 424; initialDepth = 1854.484054; finalDepth = 1871.702572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.856632 # Actual altitude: 60.856632 # Commanded vehicle depth: 1871.702572 # Seafloor depth: -1925.372702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.148347 meters # Minimum depth: 1904.484054 meters looking forward 100.000000 meters along route # Maximum depth: 1920.681823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.484054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164654; longitude = -129.915983; duration = 400; initialDepth = 1854.750777; finalDepth = 1854.484054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1100590000001 # Actual altitude: 66.1100590000001 # Commanded vehicle depth: 1854.484054 # Seafloor depth: -1920.594113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.176827 meters # Minimum depth: 1904.750777 meters looking forward 100.000000 meters along route # Maximum depth: 1914.071106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.750777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163921; longitude = -129.916738; duration = 412; initialDepth = 1856.742928; finalDepth = 1854.750777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1100590000001 # Actual altitude: 66.1100590000001 # Commanded vehicle depth: 1854.750777 # Seafloor depth: -1904.750777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.083439 meters # Minimum depth: 1906.742928 meters looking forward 100.000000 meters along route # Maximum depth: 1910.948035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.742928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163165; longitude = -129.917515; duration = 424; initialDepth = 1844.797441; finalDepth = 1856.742928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.205107 # Actual altitude: 54.205107 # Commanded vehicle depth: 1856.742928 # Seafloor depth: -1910.948035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.083073 meters # Minimum depth: 1894.797441 meters looking forward 100.000000 meters along route # Maximum depth: 1906.746641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.797441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162389; longitude = -129.918314; duration = 400; initialDepth = 1830.854356; finalDepth = 1844.797441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9492 # Actual altitude: 61.9492 # Commanded vehicle depth: 1844.797441 # Seafloor depth: -1906.746641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.244935 meters # Minimum depth: 1880.854356 meters looking forward 100.000000 meters along route # Maximum depth: 1894.377565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.854356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161656; longitude = -129.919068; duration = 412; initialDepth = 1835.139234; finalDepth = 1830.854356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.523209 # Actual altitude: 63.523209 # Commanded vehicle depth: 1830.854356 # Seafloor depth: -1894.377565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 106.084917 meters # Minimum depth: 1885.139234 meters looking forward 100.000000 meters along route # Maximum depth: 1892.151066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.139234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160900; longitude = -129.919845; duration = 424; initialDepth = 1831.294888; finalDepth = 1835.139234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.523209 # Actual altitude: 63.523209 # Commanded vehicle depth: 1835.139234 # Seafloor depth: -1885.506691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.017798 meters # Minimum depth: 1881.294888 meters looking forward 100.000000 meters along route # Maximum depth: 1894.594803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.294888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160123; longitude = -129.920644; duration = 400; initialDepth = 1844.480558; finalDepth = 1831.294888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8301210000002 # Actual altitude: 57.8301210000002 # Commanded vehicle depth: 1831.294888 # Seafloor depth: -1889.125009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.313044 meters # Minimum depth: 1894.480558 meters looking forward 100.000000 meters along route # Maximum depth: 1897.468856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.480558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159391; longitude = -129.921398; duration = 413; initialDepth = 1844.392106; finalDepth = 1844.480558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8301210000002 # Actual altitude: 57.8301210000002 # Commanded vehicle depth: 1844.480558 # Seafloor depth: -1894.480558 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.921118 meters # Minimum depth: 1894.392106 meters looking forward 100.000000 meters along route # Maximum depth: 1900.524375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.392106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158635; longitude = -129.922176; duration = 411; initialDepth = 1847.675282; finalDepth = 1844.392106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5276429999999 # Actual altitude: 52.5276429999999 # Commanded vehicle depth: 1844.392106 # Seafloor depth: -1896.919749 # 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 24 # Segment length 103.117798 meters # Minimum depth: 1897.675282 meters looking forward 100.000000 meters along route # Maximum depth: 1911.089373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.675282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157881; longitude = -129.922951; duration = 412; initialDepth = 1854.442251; finalDepth = 1847.675282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5276429999999 # Actual altitude: 52.5276429999999 # Commanded vehicle depth: 1847.675282 # Seafloor depth: -1897.675282 # 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 24 # Segment length 103.381155 meters # Minimum depth: 1904.442251 meters looking forward 100.000000 meters along route # Maximum depth: 1926.378715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.442251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157126; longitude = -129.923728; duration = 413; initialDepth = 1849.015866; finalDepth = 1854.442251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.850801 # Actual altitude: 58.850801 # Commanded vehicle depth: 1854.442251 # Seafloor depth: -1913.293052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.855880 meters # Minimum depth: 1899.015866 meters looking forward 100.000000 meters along route # Maximum depth: 1904.373768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.015866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156370; longitude = -129.924506; duration = 411; initialDepth = 1848.251149; finalDepth = 1849.015866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.850801 # Actual altitude: 58.850801 # Commanded vehicle depth: 1849.015866 # Seafloor depth: -1904.373768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.119236 meters # Minimum depth: 1898.251149 meters looking forward 100.000000 meters along route # Maximum depth: 1919.027944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.251149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155617; longitude = -129.925281; duration = 412; initialDepth = 1863.863928; finalDepth = 1848.251149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.357902 # Actual altitude: 55.357902 # Commanded vehicle depth: 1848.251149 # Seafloor depth: -1898.818535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.449268 meters # Minimum depth: 1913.863928 meters looking forward 100.000000 meters along route # Maximum depth: 1919.896309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.863928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154862; longitude = -129.926058; duration = 413; initialDepth = 1864.325224; finalDepth = 1863.863928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0793759999999 # Actual altitude: 54.0793759999999 # Commanded vehicle depth: 1863.863928 # Seafloor depth: -1917.943304 # 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 24 # Segment length 102.790641 meters # Minimum depth: 1914.325224 meters looking forward 100.000000 meters along route # Maximum depth: 1933.669028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.325224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154104; longitude = -129.926837; duration = 411; initialDepth = 1865.087543; finalDepth = 1864.325224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0793759999999 # Actual altitude: 54.0793759999999 # Commanded vehicle depth: 1864.325224 # Seafloor depth: -1914.325224 # 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 24 # Segment length 103.120672 meters # Minimum depth: 1915.087543 meters looking forward 100.000000 meters along route # Maximum depth: 1937.781370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.087543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153352; longitude = -129.927611; duration = 412; initialDepth = 1806.036644; finalDepth = 1865.087543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6270919999999 # Actual altitude: 69.6270919999999 # Commanded vehicle depth: 1865.087543 # Seafloor depth: -1934.714635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.517383 meters # Minimum depth: 1856.036644 meters looking forward 100.000000 meters along route # Maximum depth: 1925.477141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.036644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152597; longitude = -129.928388; duration = 414; initialDepth = 1780.395049; finalDepth = 1806.036644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.294019 # Actual altitude: 100 # Commanded vehicle depth: 1806.036644 # Seafloor depth: -1913.330663 # 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 102.725400 meters # Minimum depth: 1830.395049 meters looking forward 100.000000 meters along route # Maximum depth: 1856.347134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.395049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151839; longitude = -129.929167; duration = 410; initialDepth = 1743.178634; finalDepth = 1780.395049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.294019 # Actual altitude: 100 # Commanded vehicle depth: 1780.395049 # Seafloor depth: -1856.280928 # 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 103.122109 meters # Minimum depth: 1793.178634 meters looking forward 100.000000 meters along route # Maximum depth: 1829.091030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.178634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151087; longitude = -129.929941; duration = 412; initialDepth = 1745.529236; finalDepth = 1743.178634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9123959999999 # Actual altitude: 85.9123959999999 # Commanded vehicle depth: 1743.178634 # Seafloor depth: -1829.091030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.585500 meters # Minimum depth: 1795.529236 meters looking forward 100.000000 meters along route # Maximum depth: 1829.946754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.529236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150332; longitude = -129.930718; duration = 414; initialDepth = 1780.117128; finalDepth = 1745.529236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9123959999999 # Actual altitude: 85.9123959999999 # Commanded vehicle depth: 1745.529236 # Seafloor depth: -1795.529236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.660157 meters # Minimum depth: 1830.117128 meters looking forward 100.000000 meters along route # Maximum depth: 1842.334204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.117128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149574; longitude = -129.931498; duration = 410; initialDepth = 1765.642455; finalDepth = 1780.117128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.117128 # Seafloor depth: -1830.117128 # 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 103.123547 meters # Minimum depth: 1815.642455 meters looking forward 100.000000 meters along route # Maximum depth: 1842.319547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.642455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148822; longitude = -129.932271; duration = 412; initialDepth = 1769.078585; finalDepth = 1765.642455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6770920000001 # Actual altitude: 76.6770920000001 # Commanded vehicle depth: 1765.642455 # Seafloor depth: -1842.319547 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.653618 meters # Minimum depth: 1819.078585 meters looking forward 100.000000 meters along route # Maximum depth: 1830.487289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.078585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148067; longitude = -129.933048; duration = 414; initialDepth = 1777.011961; finalDepth = 1769.078585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6770920000001 # Actual altitude: 76.6770920000001 # Commanded vehicle depth: 1769.078585 # Seafloor depth: -1821.579138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.594912 meters # Minimum depth: 1827.011961 meters looking forward 100.000000 meters along route # Maximum depth: 1842.529340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.011961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147308; longitude = -129.933828; duration = 410; initialDepth = 1769.177781; finalDepth = 1777.011961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5005530000001 # Actual altitude: 52.5005530000001 # Commanded vehicle depth: 1777.011961 # Seafloor depth: -1827.865236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.124984 meters # Minimum depth: 1819.177781 meters looking forward 100.000000 meters along route # Maximum depth: 1838.840153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.177781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146557; longitude = -129.934601; duration = 412; initialDepth = 1769.486498; finalDepth = 1769.177781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.394335 # Actual altitude: 69.394335 # Commanded vehicle depth: 1769.177781 # Seafloor depth: -1838.572116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.721739 meters # Minimum depth: 1819.486498 meters looking forward 100.000000 meters along route # Maximum depth: 1836.888959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.486498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145803; longitude = -129.935378; duration = 414; initialDepth = 1736.376369; finalDepth = 1769.486498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.394335 # Actual altitude: 69.394335 # Commanded vehicle depth: 1769.486498 # Seafloor depth: -1836.888959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.529666 meters # Minimum depth: 1786.376369 meters looking forward 100.000000 meters along route # Maximum depth: 1818.996164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.376369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145043; longitude = -129.936159; duration = 410; initialDepth = 1724.091065; finalDepth = 1736.376369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6197949999998 # Actual altitude: 82.6197949999998 # Commanded vehicle depth: 1736.376369 # Seafloor depth: -1818.996164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.126421 meters # Minimum depth: 1774.091065 meters looking forward 100.000000 meters along route # Maximum depth: 1783.779842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.091065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144293; longitude = -129.936931; duration = 412; initialDepth = 1716.026752; finalDepth = 1724.091065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6197949999998 # Actual altitude: 82.6197949999998 # Commanded vehicle depth: 1724.091065 # Seafloor depth: -1783.779842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.789862 meters # Minimum depth: 1766.026752 meters looking forward 100.000000 meters along route # Maximum depth: 1774.240520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.026752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143538; longitude = -129.937708; duration = 415; initialDepth = 1724.037129; finalDepth = 1716.026752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6887769999998 # Actual altitude: 59.6887769999998 # Commanded vehicle depth: 1716.026752 # Seafloor depth: -1774.129207 # 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 24 # Segment length 102.464418 meters # Minimum depth: 1774.037129 meters looking forward 100.000000 meters along route # Maximum depth: 1791.647182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.037129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142778; longitude = -129.938489; duration = 409; initialDepth = 1709.208991; finalDepth = 1724.037129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.102455 # Actual altitude: 58.102455 # Commanded vehicle depth: 1724.037129 # Seafloor depth: -1774.037129 # 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 24 # Segment length 103.127858 meters # Minimum depth: 1759.208991 meters looking forward 100.000000 meters along route # Maximum depth: 1790.713644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.208991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142028; longitude = -129.939261; duration = 412; initialDepth = 1682.034896; finalDepth = 1709.208991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.981049 # Actual altitude: 79.981049 # Commanded vehicle depth: 1709.208991 # Seafloor depth: -1789.190040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.857986 meters # Minimum depth: 1732.034896 meters looking forward 100.000000 meters along route # Maximum depth: 1770.657696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.034896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141273; longitude = -129.940038; duration = 415; initialDepth = 1700.487809; finalDepth = 1682.034896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6228000000001 # Actual altitude: 88.6228000000001 # Commanded vehicle depth: 1682.034896 # Seafloor depth: -1770.657696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.399168 meters # Minimum depth: 1750.487809 meters looking forward 100.000000 meters along route # Maximum depth: 1805.320555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.487809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140513; longitude = -129.940820; duration = 409; initialDepth = 1737.758057; finalDepth = 1700.487809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6228000000001 # Actual altitude: 88.6228000000001 # Commanded vehicle depth: 1700.487809 # Seafloor depth: -1751.271769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 53.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.129296 meters # Minimum depth: 1805.247727 meters looking forward 100.000000 meters along route # Maximum depth: 1832.766068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.758057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139763; longitude = -129.941591; duration = 412; initialDepth = 1775.294051; finalDepth = 1737.758057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.4896695248783 # Actual altitude: 67.4896695248783 # Commanded vehicle depth: 1737.75805747512 # Seafloor depth: -1805.247727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.926112 meters # Minimum depth: 1826.075940 meters looking forward 100.000000 meters along route # Maximum depth: 1838.740286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.294051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139008; longitude = -129.942368; duration = 415; initialDepth = 1784.708163; finalDepth = 1775.294051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.4896695248783 # Actual altitude: 67.4896695248783 # Commanded vehicle depth: 1775.29405080453 # Seafloor depth: -1827.633231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.333917 meters # Minimum depth: 1834.708163 meters looking forward 100.000000 meters along route # Maximum depth: 1837.620048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.708163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138247; longitude = -129.943150; duration = 409; initialDepth = 1769.634826; finalDepth = 1784.708163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.339180195472 # Actual altitude: 52.339180195472 # Commanded vehicle depth: 1784.708163 # Seafloor depth: -1835.429010 # 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 24 # Segment length 103.130733 meters # Minimum depth: 1819.634826 meters looking forward 100.000000 meters along route # Maximum depth: 1835.931476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.634826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137498; longitude = -129.943921; duration = 412; initialDepth = 1771.463076; finalDepth = 1769.634826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9134369999999 # Actual altitude: 65.9134369999999 # Commanded vehicle depth: 1769.634826 # Seafloor depth: -1835.548263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.994241 meters # Minimum depth: 1821.463076 meters looking forward 100.000000 meters along route # Maximum depth: 1837.271956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.463076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136743; longitude = -129.944698; duration = 415; initialDepth = 1785.676520; finalDepth = 1771.463076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9134369999999 # Actual altitude: 65.9134369999999 # Commanded vehicle depth: 1771.463076 # Seafloor depth: -1821.720601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.268663 meters # Minimum depth: 1835.676520 meters looking forward 100.000000 meters along route # Maximum depth: 1846.189291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.676520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135982; longitude = -129.945481; duration = 409; initialDepth = 1794.977739; finalDepth = 1785.676520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.257525 # Actual altitude: 50.257525 # Commanded vehicle depth: 1785.67652 # Seafloor depth: -1835.676520 # 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 24 # Segment length 103.132171 meters # Minimum depth: 1844.977739 meters looking forward 100.000000 meters along route # Maximum depth: 1847.262141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.977739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135234; longitude = -129.946251; duration = 412; initialDepth = 1796.445793; finalDepth = 1794.977739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7639310000002 # Actual altitude: 50.7639310000002 # Commanded vehicle depth: 1794.977739 # Seafloor depth: -1845.741670 # 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 24 # Segment length 104.062371 meters # Minimum depth: 1846.445793 meters looking forward 100.000000 meters along route # Maximum depth: 1855.005297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.445793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134479; longitude = -129.947028; duration = 416; initialDepth = 1804.775466; finalDepth = 1796.445793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7639310000002 # Actual altitude: 50.7639310000002 # Commanded vehicle depth: 1796.445793 # Seafloor depth: -1847.058834 # 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 24 # Segment length 102.203408 meters # Minimum depth: 1854.775466 meters looking forward 100.000000 meters along route # Maximum depth: 1864.731372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.775466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133717; longitude = -129.947811; duration = 408; initialDepth = 1806.090518; finalDepth = 1804.775466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6130409999998 # Actual altitude: 50.6130409999998 # Commanded vehicle depth: 1804.775466 # Seafloor depth: -1854.775466 # 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 24 # Segment length 103.133608 meters # Minimum depth: 1856.090518 meters looking forward 100.000000 meters along route # Maximum depth: 1864.293762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.090518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132969; longitude = -129.948581; duration = 412; initialDepth = 1797.493355; finalDepth = 1806.090518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.920001 # Actual altitude: 57.920001 # Commanded vehicle depth: 1806.090518 # Seafloor depth: -1864.010519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.130503 meters # Minimum depth: 1847.493355 meters looking forward 100.000000 meters along route # Maximum depth: 1856.755033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.493355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132214; longitude = -129.949358; duration = 416; initialDepth = 1797.670945; finalDepth = 1797.493355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7807229999999 # Actual altitude: 58.7807229999999 # Commanded vehicle depth: 1797.493355 # Seafloor depth: -1856.274078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.138151 meters # Minimum depth: 1847.670945 meters looking forward 100.000000 meters along route # Maximum depth: 1850.835133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.670945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131452; longitude = -129.950142; duration = 408; initialDepth = 1799.413551; finalDepth = 1797.670945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7807229999999 # Actual altitude: 58.7807229999999 # Commanded vehicle depth: 1797.670945 # Seafloor depth: -1847.670945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.135046 meters # Minimum depth: 1849.413551 meters looking forward 100.000000 meters along route # Maximum depth: 1854.918803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.413551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130704; longitude = -129.950911; duration = 412; initialDepth = 1803.837204; finalDepth = 1799.413551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.330281 # Actual altitude: 51.330281 # Commanded vehicle depth: 1799.413551 # Seafloor depth: -1850.743832 # 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 24 # Segment length 104.198637 meters # Minimum depth: 1853.837204 meters looking forward 100.000000 meters along route # Maximum depth: 1867.761669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.837204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129949; longitude = -129.951688; duration = 416; initialDepth = 1812.714065; finalDepth = 1803.837204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.330281 # Actual altitude: 51.330281 # Commanded vehicle depth: 1803.837204 # Seafloor depth: -1853.837204 # 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 24 # Segment length 102.072893 meters # Minimum depth: 1862.714065 meters looking forward 100.000000 meters along route # Maximum depth: 1875.137252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.714065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129186; longitude = -129.952472; duration = 408; initialDepth = 1806.265945; finalDepth = 1812.714065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.714065 # Seafloor depth: -1862.714065 # 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 103.136483 meters # Minimum depth: 1856.265945 meters looking forward 100.000000 meters along route # Maximum depth: 1876.359864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.265945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128439; longitude = -129.953241; duration = 412; initialDepth = 1799.599162; finalDepth = 1806.265945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1792739999999 # Actual altitude: 69.1792739999999 # Commanded vehicle depth: 1806.265945 # Seafloor depth: -1875.445219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.237900 meters # Minimum depth: 1849.599162 meters looking forward 100.000000 meters along route # Maximum depth: 1856.074279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.599162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127684; longitude = -129.954018; duration = 420; initialDepth = 1798.061323; finalDepth = 1799.599162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.1792739999999 # Actual altitude: 69.1792739999999 # Commanded vehicle depth: 1799.599162 # Seafloor depth: -1856.074279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.51; 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 23 # Segment length 150.032211 meters # Minimum depth: 1848.061323 meters looking forward 100.000000 meters along route # Maximum depth: 1864.237699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.061323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126914; longitude = -129.954810; duration = 600; # abortOnTimeout = True; initialDepth = 1791.656119; finalDepth = 1798.061323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.475117 # Actual altitude: 56.475117 # Commanded vehicle depth: 1798.061323 # Seafloor depth: -1852.706360 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.89; 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 82.997113 meters # Minimum depth: 1841.656119 meters looking forward 100.000000 meters along route # Maximum depth: 1850.466393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.656119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127699; longitude = -129.956390; duration = 331; # abortOnTimeout = True; initialDepth = 1789.904011; finalDepth = 1791.656119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4688200000001 # Actual altitude: 56.4688200000001 # Commanded vehicle depth: 1791.656119 # Seafloor depth: -1848.124939 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 103.137803 meters # Minimum depth: 1839.904011 meters looking forward 100.000000 meters along route # Maximum depth: 1852.028390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.904011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128307; longitude = -129.955765; duration = 412; initialDepth = 1789.435108; finalDepth = 1789.904011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4688200000001 # Actual altitude: 56.4688200000001 # Commanded vehicle depth: 1789.904011 # Seafloor depth: -1841.362428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.485270 meters # Minimum depth: 1839.435108 meters looking forward 100.000000 meters along route # Maximum depth: 1848.047726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.435108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129061; longitude = -129.954988; duration = 421; initialDepth = 1797.292179; finalDepth = 1789.435108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6126180000001 # Actual altitude: 58.6126180000001 # Commanded vehicle depth: 1789.435108 # Seafloor depth: -1848.047726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.788900 meters # Minimum depth: 1847.292179 meters looking forward 100.000000 meters along route # Maximum depth: 1856.468762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.292179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129834; longitude = -129.954194; duration = 403; initialDepth = 1794.546604; finalDepth = 1797.292179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6126180000001 # Actual altitude: 58.6126180000001 # Commanded vehicle depth: 1797.292179 # Seafloor depth: -1847.292179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.136366 meters # Minimum depth: 1844.546604 meters looking forward 100.000000 meters along route # Maximum depth: 1850.714347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.546604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130571; longitude = -129.953435; duration = 412; initialDepth = 1792.123743; finalDepth = 1794.546604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1677430000002 # Actual altitude: 56.1677430000002 # Commanded vehicle depth: 1794.546604 # Seafloor depth: -1850.714347 # 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 22 # Segment length 105.542859 meters # Minimum depth: 1842.123743 meters looking forward 100.000000 meters along route # Maximum depth: 1847.421619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.123743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131326; longitude = -129.952658; duration = 422; initialDepth = 1793.588810; finalDepth = 1792.123743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1677430000002 # Actual altitude: 56.1677430000002 # Commanded vehicle depth: 1792.123743 # Seafloor depth: -1845.287404 # 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 22 # Segment length 100.728434 meters # Minimum depth: 1843.588810 meters looking forward 100.000000 meters along route # Maximum depth: 1847.932013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.588810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132099; longitude = -129.951864; duration = 402; initialDepth = 1798.167266; finalDepth = 1793.588810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1636609999998 # Actual altitude: 53.1636609999998 # Commanded vehicle depth: 1793.58881 # Seafloor depth: -1845.544069 # 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 103.134928 meters # Minimum depth: 1848.167266 meters looking forward 100.000000 meters along route # Maximum depth: 1858.971997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.167266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132836; longitude = -129.951105; duration = 412; initialDepth = 1803.017978; finalDepth = 1798.167266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9552590000001 # Actual altitude: 51.9552590000001 # Commanded vehicle depth: 1798.167266 # Seafloor depth: -1848.171669 # 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 22 # Segment length 105.600448 meters # Minimum depth: 1853.017978 meters looking forward 100.000000 meters along route # Maximum depth: 1857.128736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.017978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133591; longitude = -129.950328; duration = 422; initialDepth = 1800.212778; finalDepth = 1803.017978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.645816 # Actual altitude: 53.645816 # Commanded vehicle depth: 1803.017978 # Seafloor depth: -1856.663794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.667971 meters # Minimum depth: 1850.212778 meters looking forward 100.000000 meters along route # Maximum depth: 1854.587189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.212778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134364; longitude = -129.949533; duration = 402; initialDepth = 1781.750363; finalDepth = 1800.212778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0125659999999 # Actual altitude: 54.0125659999999 # Commanded vehicle depth: 1800.212778 # Seafloor depth: -1854.225344 # 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 22 # Segment length 103.133490 meters # Minimum depth: 1831.750363 meters looking forward 100.000000 meters along route # Maximum depth: 1849.704623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.750363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135101; longitude = -129.948775; duration = 412; initialDepth = 1772.908252; finalDepth = 1781.750363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.95426 # Actual altitude: 67.95426 # Commanded vehicle depth: 1781.750363 # Seafloor depth: -1849.704623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.658035 meters # Minimum depth: 1822.908252 meters looking forward 100.000000 meters along route # Maximum depth: 1831.700918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.908252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135856; longitude = -129.947998; duration = 422; initialDepth = 1766.368121; finalDepth = 1772.908252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.95426 # Actual altitude: 67.95426 # Commanded vehicle depth: 1772.908252 # Seafloor depth: -1831.700918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.607509 meters # Minimum depth: 1816.368121 meters looking forward 100.000000 meters along route # Maximum depth: 1825.316462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.368121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136629; longitude = -129.947203; duration = 402; initialDepth = 1763.871992; finalDepth = 1766.368121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7926660000001 # Actual altitude: 58.7926660000001 # Commanded vehicle depth: 1766.368121 # Seafloor depth: -1822.733398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.132052 meters # Minimum depth: 1813.871992 meters looking forward 100.000000 meters along route # Maximum depth: 1818.450600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.871992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137366; longitude = -129.946445; duration = 412; initialDepth = 1765.492233; finalDepth = 1763.871992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3652770000001 # Actual altitude: 56.3652770000001 # Commanded vehicle depth: 1763.871992 # Seafloor depth: -1816.697867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.715620 meters # Minimum depth: 1815.492233 meters looking forward 100.000000 meters along route # Maximum depth: 1818.454902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.492233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138121; longitude = -129.945668; duration = 422; initialDepth = 1761.950809; finalDepth = 1765.492233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.962669 # Actual altitude: 52.962669 # Commanded vehicle depth: 1765.492233 # Seafloor depth: -1818.454902 # 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 22 # Segment length 100.547049 meters # Minimum depth: 1811.950809 meters looking forward 100.000000 meters along route # Maximum depth: 1817.898280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.950809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138895; longitude = -129.944872; duration = 402; initialDepth = 1746.879492; finalDepth = 1761.950809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9474710000002 # Actual altitude: 55.9474710000002 # Commanded vehicle depth: 1761.950809 # Seafloor depth: -1817.898280 # 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 22 # Segment length 103.130615 meters # Minimum depth: 1796.879492 meters looking forward 100.000000 meters along route # Maximum depth: 1812.659939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.879492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139631; longitude = -129.944115; duration = 412; initialDepth = 1747.243813; finalDepth = 1746.879492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.076397 # Actual altitude: 65.076397 # Commanded vehicle depth: 1746.879492 # Seafloor depth: -1811.955889 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.773203 meters # Minimum depth: 1797.243813 meters looking forward 100.000000 meters along route # Maximum depth: 1820.160812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.243813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140386; longitude = -129.943338; duration = 423; initialDepth = 1703.671922; finalDepth = 1747.243813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7005770000001 # Actual altitude: 65.7005770000001 # Commanded vehicle depth: 1747.243813 # Seafloor depth: -1812.944390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.486590 meters # Minimum depth: 1753.671922 meters looking forward 100.000000 meters along route # Maximum depth: 1793.814941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.671922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141160; longitude = -129.942542; duration = 401; initialDepth = 1677.996498; finalDepth = 1703.671922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.1430190000001 # Actual altitude: 90.1430190000001 # Commanded vehicle depth: 1703.671922 # Seafloor depth: -1793.814941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.129178 meters # Minimum depth: 1727.996498 meters looking forward 100.000000 meters along route # Maximum depth: 1754.623989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.996498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141896; longitude = -129.941785; duration = 412; initialDepth = 1666.861977; finalDepth = 1677.996498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.1430190000001 # Actual altitude: 90.1430190000001 # Commanded vehicle depth: 1677.996498 # Seafloor depth: -1754.623989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.830785 meters # Minimum depth: 1716.861977 meters looking forward 100.000000 meters along route # Maximum depth: 1727.880184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.861977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142650; longitude = -129.941008; duration = 423; initialDepth = 1659.007251; finalDepth = 1666.861977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.627491 # Actual altitude: 76.627491 # Commanded vehicle depth: 1666.861977 # Seafloor depth: -1727.880184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.426133 meters # Minimum depth: 1709.007251 meters looking forward 100.000000 meters along route # Maximum depth: 1724.918523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.007251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143425; longitude = -129.940211; duration = 401; initialDepth = 1675.249151; finalDepth = 1659.007251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0182070000001 # Actual altitude: 61.0182070000001 # Commanded vehicle depth: 1659.007251 # Seafloor depth: -1717.717386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.127741 meters # Minimum depth: 1725.249151 meters looking forward 100.000000 meters along route # Maximum depth: 1734.561988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.249151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144160; longitude = -129.939455; duration = 412; initialDepth = 1664.576082; finalDepth = 1675.249151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.710135 # Actual altitude: 58.710135 # Commanded vehicle depth: 1675.249151 # Seafloor depth: -1725.249151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.888365 meters # Minimum depth: 1714.576082 meters looking forward 100.000000 meters along route # Maximum depth: 1744.056829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.576082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144915; longitude = -129.938678; duration = 423; initialDepth = 1695.746403; finalDepth = 1664.576082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.129557 # Actual altitude: 69.129557 # Commanded vehicle depth: 1664.576082 # Seafloor depth: -1733.705639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.365679 meters # Minimum depth: 1745.746403 meters looking forward 100.000000 meters along route # Maximum depth: 1765.786982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.746403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145690; longitude = -129.937881; duration = 401; initialDepth = 1685.995958; finalDepth = 1695.746403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.129557 # Actual altitude: 69.129557 # Commanded vehicle depth: 1695.746403 # Seafloor depth: -1745.746403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.126303 meters # Minimum depth: 1735.995958 meters looking forward 100.000000 meters along route # Maximum depth: 1768.244502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.995958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146425; longitude = -129.937125; duration = 412; initialDepth = 1678.169265; finalDepth = 1685.995958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5667310000001 # Actual altitude: 79.5667310000001 # Commanded vehicle depth: 1685.995958 # Seafloor depth: -1765.562689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.945944 meters # Minimum depth: 1728.169265 meters looking forward 100.000000 meters along route # Maximum depth: 1761.233833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.169265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147180; longitude = -129.936348; duration = 423; initialDepth = 1709.544574; finalDepth = 1678.169265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5667310000001 # Actual altitude: 79.5667310000001 # Commanded vehicle depth: 1678.169265 # Seafloor depth: -1738.091435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.305225 meters # Minimum depth: 1759.544574 meters looking forward 100.000000 meters along route # Maximum depth: 1778.712801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.544574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147956; longitude = -129.935551; duration = 401; initialDepth = 1725.583867; finalDepth = 1709.544574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9221700000001 # Actual altitude: 59.9221700000001 # Commanded vehicle depth: 1709.544574 # Seafloor depth: -1761.326704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.124866 meters # Minimum depth: 1775.583867 meters looking forward 100.000000 meters along route # Maximum depth: 1811.969091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.583867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148690; longitude = -129.934795; duration = 412; initialDepth = 1760.228731; finalDepth = 1725.583867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1311329999999 # Actual altitude: 53.1311329999999 # Commanded vehicle depth: 1725.583867 # Seafloor depth: -1778.715000 # 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 22 # Segment length 106.003521 meters # Minimum depth: 1810.228731 meters looking forward 100.000000 meters along route # Maximum depth: 1850.300649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.228731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149445; longitude = -129.934018; duration = 424; initialDepth = 1798.810857; finalDepth = 1760.228731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1311329999999 # Actual altitude: 53.1311329999999 # Commanded vehicle depth: 1760.228731 # Seafloor depth: -1810.339495 # 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 22 # Segment length 100.244774 meters # Minimum depth: 1850.108189 meters looking forward 100.000000 meters along route # Maximum depth: 1873.620454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.810857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150221; longitude = -129.933220; duration = 400; initialDepth = 1803.801216; finalDepth = 1798.810857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2973323433916 # Actual altitude: 51.2973323433916 # Commanded vehicle depth: 1798.81085665661 # Seafloor depth: -1850.108189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.123429 meters # Minimum depth: 1853.801216 meters looking forward 100.000000 meters along route # Maximum depth: 1873.804613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.801216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150955; longitude = -129.932465; duration = 412; initialDepth = 1796.699273; finalDepth = 1803.801216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5633209999999 # Actual altitude: 69.5633209999999 # Commanded vehicle depth: 1803.801216 # Seafloor depth: -1873.364537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.061096 meters # Minimum depth: 1846.699273 meters looking forward 100.000000 meters along route # Maximum depth: 1854.132762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.699273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151710; longitude = -129.931688; duration = 424; initialDepth = 1792.734178; finalDepth = 1796.699273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.5633209999999 # Actual altitude: 69.5633209999999 # Commanded vehicle depth: 1796.699273 # Seafloor depth: -1854.132762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.184325 meters # Minimum depth: 1842.734178 meters looking forward 100.000000 meters along route # Maximum depth: 1852.822926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.734178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152486; longitude = -129.930890; duration = 400; initialDepth = 1803.325244; finalDepth = 1792.734178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.433489 # Actual altitude: 57.433489 # Commanded vehicle depth: 1792.734178 # Seafloor depth: -1845.743044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.152581 meters # Minimum depth: 1853.325244 meters looking forward 100.000000 meters along route # Maximum depth: 1890.282845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.325244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153220; longitude = -129.930135; duration = 412; initialDepth = 1840.275172; finalDepth = 1803.325244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0088660000001 # Actual altitude: 53.0088660000001 # Commanded vehicle depth: 1803.325244 # Seafloor depth: -1853.325244 # 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 22 # Segment length 106.088081 meters # Minimum depth: 1890.275172 meters looking forward 100.000000 meters along route # Maximum depth: 1907.579537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.275172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153975; longitude = -129.929358; duration = 424; initialDepth = 1846.144748; finalDepth = 1840.275172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.275172 # Seafloor depth: -1890.275172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.123876 meters # Minimum depth: 1896.144748 meters looking forward 100.000000 meters along route # Maximum depth: 1918.650069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.144748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154751; longitude = -129.928559; duration = 400; initialDepth = 1855.962138; finalDepth = 1846.144748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1374530000001 # Actual altitude: 55.1374530000001 # Commanded vehicle depth: 1846.144748 # Seafloor depth: -1901.282201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.210195 meters # Minimum depth: 1905.962138 meters looking forward 100.000000 meters along route # Maximum depth: 1921.273439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.962138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155484; longitude = -129.927805; duration = 412; initialDepth = 1849.943341; finalDepth = 1855.962138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4689599999999 # Actual altitude: 63.4689599999999 # Commanded vehicle depth: 1855.962138 # Seafloor depth: -1919.431098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.086603 meters # Minimum depth: 1899.943341 meters looking forward 100.000000 meters along route # Maximum depth: 1906.541286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.943341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156240; longitude = -129.927028; duration = 424; initialDepth = 1851.088120; finalDepth = 1849.943341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4689599999999 # Actual altitude: 63.4689599999999 # Commanded vehicle depth: 1849.943341 # Seafloor depth: -1905.940658 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.063430 meters # Minimum depth: 1901.088120 meters looking forward 100.000000 meters along route # Maximum depth: 1906.442940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.088120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157017; longitude = -129.926229; duration = 400; initialDepth = 1848.698727; finalDepth = 1851.088120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9973170000001 # Actual altitude: 55.9973170000001 # Commanded vehicle depth: 1851.08812 # Seafloor depth: -1906.442940 # 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 22 # Segment length 103.267807 meters # Minimum depth: 1898.698727 meters looking forward 100.000000 meters along route # Maximum depth: 1902.719802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.698727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157749; longitude = -129.925475; duration = 413; initialDepth = 1841.889646; finalDepth = 1848.698727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.35482 # Actual altitude: 55.35482 # Commanded vehicle depth: 1848.698727 # Seafloor depth: -1901.050705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.085124 meters # Minimum depth: 1891.889646 meters looking forward 100.000000 meters along route # Maximum depth: 1902.720398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.889646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158505; longitude = -129.924697; duration = 424; initialDepth = 1826.440827; finalDepth = 1841.889646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8307519999998 # Actual altitude: 60.8307519999998 # Commanded vehicle depth: 1841.889646 # Seafloor depth: -1902.720398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.002986 meters # Minimum depth: 1876.440827 meters looking forward 100.000000 meters along route # Maximum depth: 1893.046323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.440827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159282; longitude = -129.923898; duration = 400; initialDepth = 1811.029169; finalDepth = 1826.440827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6054960000001 # Actual altitude: 66.6054960000001 # Commanded vehicle depth: 1826.440827 # Seafloor depth: -1893.046323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.325418 meters # Minimum depth: 1861.029169 meters looking forward 100.000000 meters along route # Maximum depth: 1876.155493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.029169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160014; longitude = -129.923145; duration = 413; initialDepth = 1797.651975; finalDepth = 1811.029169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6054960000001 # Actual altitude: 66.6054960000001 # Commanded vehicle depth: 1811.029169 # Seafloor depth: -1876.155493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.909465 meters # Minimum depth: 1847.651975 meters looking forward 100.000000 meters along route # Maximum depth: 1862.718529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.651975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160771; longitude = -129.922367; duration = 411; initialDepth = 1794.648108; finalDepth = 1797.651975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1263240000001 # Actual altitude: 65.1263240000001 # Commanded vehicle depth: 1797.651975 # Seafloor depth: -1861.904929 # 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 22 # Segment length 103.116723 meters # Minimum depth: 1844.648108 meters looking forward 100.000000 meters along route # Maximum depth: 1847.574900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.648108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161524; longitude = -129.921592; duration = 412; initialDepth = 1796.420613; finalDepth = 1794.648108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.252954 # Actual altitude: 64.252954 # Commanded vehicle depth: 1794.648108 # Seafloor depth: -1847.574900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.383028 meters # Minimum depth: 1846.420613 meters looking forward 100.000000 meters along route # Maximum depth: 1856.922100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.420613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162279; longitude = -129.920815; duration = 413; initialDepth = 1805.491500; finalDepth = 1796.420613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.926792 # Actual altitude: 52.926792 # Commanded vehicle depth: 1796.420613 # Seafloor depth: -1846.420613 # 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 22 # Segment length 102.848982 meters # Minimum depth: 1855.491500 meters looking forward 100.000000 meters along route # Maximum depth: 1901.638026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.491500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163036; longitude = -129.920037; duration = 411; initialDepth = 1842.925467; finalDepth = 1805.491500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5502789999998 # Actual altitude: 51.5502789999998 # Commanded vehicle depth: 1805.4915 # Seafloor depth: -1857.041779 # 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 22 # Segment length 103.115286 meters # Minimum depth: 1903.412963 meters looking forward 100.000000 meters along route # Maximum depth: 1906.981219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.925467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163789; longitude = -129.919262; duration = 412; initialDepth = 1839.967597; finalDepth = 1842.925467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5329796209553 # Actual altitude: 60.5329796209553 # Commanded vehicle depth: 1842.92546737904 # Seafloor depth: -1903.458447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.440636 meters # Minimum depth: 1889.967597 meters looking forward 100.000000 meters along route # Maximum depth: 1905.237244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.967597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164544; longitude = -129.918485; duration = 413; initialDepth = 1837.445085; finalDepth = 1839.967597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.9843569999998 # Actual altitude: 64.9843569999998 # Commanded vehicle depth: 1839.967597 # Seafloor depth: -1904.951954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.788500 meters # Minimum depth: 1887.445085 meters looking forward 100.000000 meters along route # Maximum depth: 1902.791419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.445085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165301; longitude = -129.917706; duration = 411; initialDepth = 1843.290395; finalDepth = 1837.445085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.9843569999998 # Actual altitude: 64.9843569999998 # Commanded vehicle depth: 1837.445085 # Seafloor depth: -1896.195912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.113850 meters # Minimum depth: 1893.290395 meters looking forward 100.000000 meters along route # Maximum depth: 1931.653045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.290395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166054; longitude = -129.916932; duration = 412; initialDepth = 1879.742785; finalDepth = 1843.290395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7508269999998 # Actual altitude: 58.7508269999998 # Commanded vehicle depth: 1843.290395 # Seafloor depth: -1893.290395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.498242 meters # Minimum depth: 1929.742785 meters looking forward 100.000000 meters along route # Maximum depth: 1948.106299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.742785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166809; longitude = -129.916155; duration = 413; initialDepth = 1887.468151; finalDepth = 1879.742785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1879.742785 # Seafloor depth: -1929.742785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.194749 meters # Minimum depth: 1937.468151 meters looking forward 100.000000 meters along route # Maximum depth: 1950.457010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.468151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167566; longitude = -129.915376; duration = 400; initialDepth = 1831.834023; finalDepth = 1887.468151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.7028809999999 # Actual altitude: 59.7028809999999 # Commanded vehicle depth: 1887.468151 # Seafloor depth: -1947.171032 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 149.957342 meters # Minimum depth: 1881.834023 meters looking forward 100.000000 meters along route # Maximum depth: 1935.997101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.834023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168300; longitude = -129.914621; duration = 599; # abortOnTimeout = True; initialDepth = 1850.168086; finalDepth = 1831.834023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 104.163078 # Actual altitude: 100 # Commanded vehicle depth: 1831.834023 # Seafloor depth: -1935.997101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 79.853396 meters # Minimum depth: 1900.168086 meters looking forward 100.000000 meters along route # Maximum depth: 1918.230335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.168086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169085; longitude = -129.916201; duration = 319; # abortOnTimeout = True; initialDepth = 1843.558239; finalDepth = 1850.168086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.163078 # Actual altitude: 100 # Commanded vehicle depth: 1850.168086 # Seafloor depth: -1915.270996 # 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 103.114444 meters # Minimum depth: 1893.558239 meters looking forward 100.000000 meters along route # Maximum depth: 1920.941949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.558239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168500; longitude = -129.916802; duration = 412; initialDepth = 1871.172132; finalDepth = 1843.558239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1029100000001 # Actual altitude: 65.1029100000001 # Commanded vehicle depth: 1843.558239 # Seafloor depth: -1899.964599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.001971 meters # Minimum depth: 1921.172132 meters looking forward 100.000000 meters along route # Maximum depth: 1943.180987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.172132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167745; longitude = -129.917579; duration = 416; initialDepth = 1864.572573; finalDepth = 1871.172132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4063599999999 # Actual altitude: 56.4063599999999 # Commanded vehicle depth: 1871.172132 # Seafloor depth: -1921.172132 # 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 20 # Segment length 102.228353 meters # Minimum depth: 1914.572573 meters looking forward 100.000000 meters along route # Maximum depth: 1930.737831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.572573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166984; longitude = -129.918362; duration = 408; initialDepth = 1875.884680; finalDepth = 1864.572573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8909580000002 # Actual altitude: 61.8909580000002 # Commanded vehicle depth: 1864.572573 # Seafloor depth: -1926.463531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.115881 meters # Minimum depth: 1925.884680 meters looking forward 100.000000 meters along route # Maximum depth: 1940.948746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.884680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166235; longitude = -129.919132; duration = 412; initialDepth = 1888.288299; finalDepth = 1875.884680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8909580000002 # Actual altitude: 61.8909580000002 # Commanded vehicle depth: 1875.88468 # Seafloor depth: -1925.884680 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.055062 meters # Minimum depth: 1938.288299 meters looking forward 100.000000 meters along route # Maximum depth: 1944.852532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.288299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165480; longitude = -129.919909; duration = 416; initialDepth = 1850.749335; finalDepth = 1888.288299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7071059999998 # Actual altitude: 52.7071059999998 # Commanded vehicle depth: 1888.288299 # Seafloor depth: -1940.995405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.178136 meters # Minimum depth: 1900.749335 meters looking forward 100.000000 meters along route # Maximum depth: 1937.638320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.749335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164719; longitude = -129.920693; duration = 408; initialDepth = 1812.189745; finalDepth = 1850.749335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.888985 # Actual altitude: 86.888985 # Commanded vehicle depth: 1850.749335 # Seafloor depth: -1937.638320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.117317 meters # Minimum depth: 1862.189745 meters looking forward 100.000000 meters along route # Maximum depth: 1899.354239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.189745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163971; longitude = -129.921462; duration = 412; initialDepth = 1808.755985; finalDepth = 1812.189745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.1644940000001 # Actual altitude: 87.1644940000001 # Commanded vehicle depth: 1812.189745 # Seafloor depth: -1899.354239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.108154 meters # Minimum depth: 1858.755985 meters looking forward 100.000000 meters along route # Maximum depth: 1867.667905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.755985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163216; longitude = -129.922239; duration = 416; initialDepth = 1817.149087; finalDepth = 1808.755985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.1644940000001 # Actual altitude: 87.1644940000001 # Commanded vehicle depth: 1808.755985 # Seafloor depth: -1858.969655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.127917 meters # Minimum depth: 1867.149087 meters looking forward 100.000000 meters along route # Maximum depth: 1884.626135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.149087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162453; longitude = -129.923023; duration = 408; initialDepth = 1827.800043; finalDepth = 1817.149087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2136700000001 # Actual altitude: 50.2136700000001 # Commanded vehicle depth: 1817.149087 # Seafloor depth: -1867.149087 # 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 20 # Segment length 103.118754 meters # Minimum depth: 1877.800043 meters looking forward 100.000000 meters along route # Maximum depth: 1884.437271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.800043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161706; longitude = -129.923792; duration = 412; initialDepth = 1822.551109; finalDepth = 1827.800043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.793721 # Actual altitude: 55.793721 # Commanded vehicle depth: 1827.800043 # Seafloor depth: -1883.593764 # 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 20 # Segment length 104.161248 meters # Minimum depth: 1872.551109 meters looking forward 100.000000 meters along route # Maximum depth: 1881.706567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.551109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160951; longitude = -129.924569; duration = 416; initialDepth = 1817.999553; finalDepth = 1822.551109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.155458 # Actual altitude: 59.155458 # Commanded vehicle depth: 1822.551109 # Seafloor depth: -1881.706567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.077697 meters # Minimum depth: 1867.999553 meters looking forward 100.000000 meters along route # Maximum depth: 1873.727293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.999553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160188; longitude = -129.925354; duration = 408; initialDepth = 1820.005351; finalDepth = 1817.999553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.155458 # Actual altitude: 59.155458 # Commanded vehicle depth: 1817.999553 # Seafloor depth: -1872.403896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.120191 meters # Minimum depth: 1870.005351 meters looking forward 100.000000 meters along route # Maximum depth: 1882.794371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.005351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159441; longitude = -129.926122; duration = 412; initialDepth = 1828.690430; finalDepth = 1820.005351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4043429999999 # Actual altitude: 54.4043429999999 # Commanded vehicle depth: 1820.005351 # Seafloor depth: -1870.777043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.214344 meters # Minimum depth: 1878.690430 meters looking forward 100.000000 meters along route # Maximum depth: 1892.168692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.690430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158686; longitude = -129.926899; duration = 416; initialDepth = 1842.188104; finalDepth = 1828.690430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.771692 # Actual altitude: 50.771692 # Commanded vehicle depth: 1828.69043 # Seafloor depth: -1878.929113 # 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 20 # Segment length 102.027475 meters # Minimum depth: 1892.188104 meters looking forward 100.000000 meters along route # Maximum depth: 1896.296818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.188104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157923; longitude = -129.927684; duration = 408; initialDepth = 1840.555241; finalDepth = 1842.188104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2386829999998 # Actual altitude: 50.2386829999998 # Commanded vehicle depth: 1842.188104 # Seafloor depth: -1892.188104 # 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 20 # Segment length 103.121628 meters # Minimum depth: 1890.555241 meters looking forward 100.000000 meters along route # Maximum depth: 1901.217696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.555241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157176; longitude = -129.928452; duration = 412; initialDepth = 1836.466077; finalDepth = 1840.555241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2893529999999 # Actual altitude: 53.2893529999999 # Commanded vehicle depth: 1840.555241 # Seafloor depth: -1893.844594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.267440 meters # Minimum depth: 1886.466077 meters looking forward 100.000000 meters along route # Maximum depth: 1899.443341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.466077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156421; longitude = -129.929229; duration = 417; initialDepth = 1802.233738; finalDepth = 1836.466077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.428993 # Actual altitude: 62.428993 # Commanded vehicle depth: 1836.466077 # Seafloor depth: -1898.895070 # 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 20 # Segment length 101.977253 meters # Minimum depth: 1852.233738 meters looking forward 100.000000 meters along route # Maximum depth: 1885.278782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.233738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155658; longitude = -129.930014; duration = 407; initialDepth = 1787.458434; finalDepth = 1802.233738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0450440000002 # Actual altitude: 83.0450440000002 # Commanded vehicle depth: 1802.233738 # Seafloor depth: -1885.278782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.123065 meters # Minimum depth: 1837.458434 meters looking forward 100.000000 meters along route # Maximum depth: 1846.828465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.458434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154911; longitude = -129.930782; duration = 412; initialDepth = 1794.333460; finalDepth = 1787.458434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0450440000002 # Actual altitude: 83.0450440000002 # Commanded vehicle depth: 1787.458434 # Seafloor depth: -1846.439488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.320539 meters # Minimum depth: 1844.333460 meters looking forward 100.000000 meters along route # Maximum depth: 1847.203920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.333460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154156; longitude = -129.931559; duration = 417; initialDepth = 1793.071861; finalDepth = 1794.333460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9810540000001 # Actual altitude: 58.9810540000001 # Commanded vehicle depth: 1794.33346 # Seafloor depth: -1845.736491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.927029 meters # Minimum depth: 1843.071861 meters looking forward 100.000000 meters along route # Maximum depth: 1847.360499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.071861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153392; longitude = -129.932345; duration = 407; initialDepth = 1798.289675; finalDepth = 1793.071861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4448070000001 # Actual altitude: 51.4448070000001 # Commanded vehicle depth: 1793.071861 # Seafloor depth: -1844.516668 # 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 20 # Segment length 103.124502 meters # Minimum depth: 1848.289675 meters looking forward 100.000000 meters along route # Maximum depth: 1872.672251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.289675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152646; longitude = -129.933112; duration = 412; initialDepth = 1824.742948; finalDepth = 1798.289675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4448070000001 # Actual altitude: 51.4448070000001 # Commanded vehicle depth: 1798.289675 # Seafloor depth: -1848.289675 # 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 20 # Segment length 104.373638 meters # Minimum depth: 1874.742948 meters looking forward 100.000000 meters along route # Maximum depth: 1896.829178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.742948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151891; longitude = -129.933889; duration = 417; initialDepth = 1809.454066; finalDepth = 1824.742948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2186159999999 # Actual altitude: 51.2186159999999 # Commanded vehicle depth: 1824.742948 # Seafloor depth: -1875.961564 # 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 20 # Segment length 101.876803 meters # Minimum depth: 1859.454066 meters looking forward 100.000000 meters along route # Maximum depth: 1894.615766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.454066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151127; longitude = -129.934675; duration = 407; initialDepth = 1769.435870; finalDepth = 1809.454066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1616999999999 # Actual altitude: 85.1616999999999 # Commanded vehicle depth: 1809.454066 # Seafloor depth: -1894.615766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.125940 meters # Minimum depth: 1819.435870 meters looking forward 100.000000 meters along route # Maximum depth: 1859.687590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.435870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150381; longitude = -129.935442; duration = 412; initialDepth = 1746.345239; finalDepth = 1769.435870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.25172 # Actual altitude: 90.25172 # Commanded vehicle depth: 1769.43587 # Seafloor depth: -1859.687590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.426739 meters # Minimum depth: 1796.345239 meters looking forward 100.000000 meters along route # Maximum depth: 1819.741177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.345239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149626; longitude = -129.936219; duration = 417; initialDepth = 1723.564248; finalDepth = 1746.345239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.25172 # Actual altitude: 90.25172 # Commanded vehicle depth: 1746.345239 # Seafloor depth: -1819.741177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.826577 meters # Minimum depth: 1773.564248 meters looking forward 100.000000 meters along route # Maximum depth: 1796.324539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.564248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148862; longitude = -129.937005; duration = 407; initialDepth = 1715.246442; finalDepth = 1723.564248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.3959380000001 # Actual altitude: 73.3959380000001 # Commanded vehicle depth: 1723.564248 # Seafloor depth: -1796.324539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.127377 meters # Minimum depth: 1765.246442 meters looking forward 100.000000 meters along route # Maximum depth: 1788.770550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.246442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148116; longitude = -129.937772; duration = 412; initialDepth = 1712.980148; finalDepth = 1715.246442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.2941210000001 # Actual altitude: 73.2941210000001 # Commanded vehicle depth: 1715.246442 # Seafloor depth: -1788.540563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.479842 meters # Minimum depth: 1762.980148 meters looking forward 100.000000 meters along route # Maximum depth: 1771.158971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.980148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147361; longitude = -129.938549; duration = 417; initialDepth = 1702.615477; finalDepth = 1712.980148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.2941210000001 # Actual altitude: 73.2941210000001 # Commanded vehicle depth: 1712.980148 # Seafloor depth: -1764.965173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.776348 meters # Minimum depth: 1752.615477 meters looking forward 100.000000 meters along route # Maximum depth: 1763.839211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.615477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146597; longitude = -129.939336; duration = 407; initialDepth = 1684.579562; finalDepth = 1702.615477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8098869999999 # Actual altitude: 60.8098869999999 # Commanded vehicle depth: 1702.615477 # Seafloor depth: -1763.425364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.128814 meters # Minimum depth: 1734.579562 meters looking forward 100.000000 meters along route # Maximum depth: 1750.297937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.579562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145851; longitude = -129.940102; duration = 412; initialDepth = 1683.605824; finalDepth = 1684.579562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7183750000002 # Actual altitude: 65.7183750000002 # Commanded vehicle depth: 1684.579562 # Seafloor depth: -1750.297937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.532947 meters # Minimum depth: 1733.605824 meters looking forward 100.000000 meters along route # Maximum depth: 1759.463360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.605824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145097; longitude = -129.940879; duration = 418; initialDepth = 1698.151071; finalDepth = 1683.605824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7183750000002 # Actual altitude: 65.7183750000002 # Commanded vehicle depth: 1683.605824 # Seafloor depth: -1733.605824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.726119 meters # Minimum depth: 1748.151071 meters looking forward 100.000000 meters along route # Maximum depth: 1766.720194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.151071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144331; longitude = -129.941666; duration = 406; initialDepth = 1697.927424; finalDepth = 1698.151071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4460079999999 # Actual altitude: 61.4460079999999 # Commanded vehicle depth: 1698.151071 # Seafloor depth: -1759.597079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.130251 meters # Minimum depth: 1747.927424 meters looking forward 100.000000 meters along route # Maximum depth: 1772.653048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.927424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143587; longitude = -129.942432; duration = 412; initialDepth = 1721.486585; finalDepth = 1697.927424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4460079999999 # Actual altitude: 61.4460079999999 # Commanded vehicle depth: 1697.927424 # Seafloor depth: -1747.927424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.586053 meters # Minimum depth: 1771.486585 meters looking forward 100.000000 meters along route # Maximum depth: 1817.493016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.486585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142832; longitude = -129.943209; duration = 418; initialDepth = 1759.552795; finalDepth = 1721.486585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1721.486585 # Seafloor depth: -1771.486585 # 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 101.675888 meters # Minimum depth: 1817.473769 meters looking forward 100.000000 meters along route # Maximum depth: 1837.711069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.552795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142066; longitude = -129.943997; duration = 406; initialDepth = 1763.946597; finalDepth = 1759.552795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9209744938578 # Actual altitude: 57.9209744938578 # Commanded vehicle depth: 1759.55279450614 # Seafloor depth: -1817.473769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.131689 meters # Minimum depth: 1813.946597 meters looking forward 100.000000 meters along route # Maximum depth: 1838.586001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.946597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141322; longitude = -129.944762; duration = 412; initialDepth = 1763.459644; finalDepth = 1763.946597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.2586999999999 # Actual altitude: 73.2586999999999 # Commanded vehicle depth: 1763.946597 # Seafloor depth: -1837.205297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.639160 meters # Minimum depth: 1813.459644 meters looking forward 100.000000 meters along route # Maximum depth: 1819.116803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.459644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140567; longitude = -129.945539; duration = 418; initialDepth = 1761.389332; finalDepth = 1763.459644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.2586999999999 # Actual altitude: 73.2586999999999 # Commanded vehicle depth: 1763.459644 # Seafloor depth: -1814.388053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.625655 meters # Minimum depth: 1811.389332 meters looking forward 100.000000 meters along route # Maximum depth: 1816.136238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.389332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139801; longitude = -129.946327; duration = 406; initialDepth = 1760.965238; finalDepth = 1761.389332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7469060000001 # Actual altitude: 54.7469060000001 # Commanded vehicle depth: 1761.389332 # Seafloor depth: -1816.136238 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.133127 meters # Minimum depth: 1810.965238 meters looking forward 100.000000 meters along route # Maximum depth: 1813.405146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.965238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139057; longitude = -129.947092; duration = 412; initialDepth = 1760.026666; finalDepth = 1760.965238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7469060000001 # Actual altitude: 54.7469060000001 # Commanded vehicle depth: 1760.965238 # Seafloor depth: -1811.361767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.692269 meters # Minimum depth: 1810.026666 meters looking forward 100.000000 meters along route # Maximum depth: 1812.954551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.026666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138302; longitude = -129.947869; duration = 418; initialDepth = 1761.818431; finalDepth = 1760.026666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.105585 # Actual altitude: 51.105585 # Commanded vehicle depth: 1760.026666 # Seafloor depth: -1811.132251 # 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 20 # Segment length 101.575421 meters # Minimum depth: 1811.818431 meters looking forward 100.000000 meters along route # Maximum depth: 1816.585065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.818431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137535; longitude = -129.948657; duration = 406; initialDepth = 1765.025101; finalDepth = 1761.818431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.105585 # Actual altitude: 51.105585 # Commanded vehicle depth: 1761.818431 # Seafloor depth: -1812.802533 # 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 20 # Segment length 103.134565 meters # Minimum depth: 1815.025101 meters looking forward 100.000000 meters along route # Maximum depth: 1825.670783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.025101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136792; longitude = -129.949422; duration = 412; initialDepth = 1774.894267; finalDepth = 1765.025101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9841020000001 # Actual altitude: 50.9841020000001 # Commanded vehicle depth: 1765.025101 # Seafloor depth: -1815.025101 # 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 20 # Segment length 104.745379 meters # Minimum depth: 1824.894267 meters looking forward 100.000000 meters along route # Maximum depth: 1845.096559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.894267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136037; longitude = -129.950199; duration = 418; initialDepth = 1795.419021; finalDepth = 1774.894267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1774.894267 # Seafloor depth: -1824.894267 # 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 101.525187 meters # Minimum depth: 1845.419021 meters looking forward 100.000000 meters along route # Maximum depth: 1847.784208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.419021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135270; longitude = -129.950988; duration = 406; initialDepth = 1796.426059; finalDepth = 1795.419021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.419021 # Seafloor depth: -1845.419021 # 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 103.136002 meters # Minimum depth: 1846.426059 meters looking forward 100.000000 meters along route # Maximum depth: 1849.101156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.426059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134527; longitude = -129.951752; duration = 412; initialDepth = 1795.532948; finalDepth = 1796.426059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7466390000002 # Actual altitude: 51.7466390000002 # Commanded vehicle depth: 1796.426059 # Seafloor depth: -1848.172698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 104.798491 meters # Minimum depth: 1845.532948 meters looking forward 100.000000 meters along route # Maximum depth: 1847.682422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.532948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133772; longitude = -129.952529; duration = 419; initialDepth = 1791.169203; finalDepth = 1795.532948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7466390000002 # Actual altitude: 51.7466390000002 # Commanded vehicle depth: 1795.532948 # Seafloor depth: -1846.353972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.474950 meters # Minimum depth: 1841.169203 meters looking forward 100.000000 meters along route # Maximum depth: 1847.885029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.169203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133005; longitude = -129.953318; duration = 405; initialDepth = 1787.534009; finalDepth = 1791.169203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8090030000001 # Actual altitude: 54.8090030000001 # Commanded vehicle depth: 1791.169203 # Seafloor depth: -1845.978206 # 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 20 # Segment length 103.137440 meters # Minimum depth: 1837.534009 meters looking forward 100.000000 meters along route # Maximum depth: 1842.970632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.534009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132262; longitude = -129.954082; duration = 412; initialDepth = 1771.998501; finalDepth = 1787.534009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8090030000001 # Actual altitude: 54.8090030000001 # Commanded vehicle depth: 1787.534009 # Seafloor depth: -1840.419369 # 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 20 # Segment length 104.851605 meters # Minimum depth: 1821.998501 meters looking forward 100.000000 meters along route # Maximum depth: 1837.276862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.998501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131507; longitude = -129.954859; duration = 419; initialDepth = 1772.228690; finalDepth = 1771.998501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2783609999999 # Actual altitude: 65.2783609999999 # Commanded vehicle depth: 1771.998501 # Seafloor depth: -1837.276862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 101.424712 meters # Minimum depth: 1822.228690 meters looking forward 100.000000 meters along route # Maximum depth: 1829.749148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.228690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130740; longitude = -129.955648; duration = 405; initialDepth = 1774.390846; finalDepth = 1772.228690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2783609999999 # Actual altitude: 65.2783609999999 # Commanded vehicle depth: 1772.22869 # Seafloor depth: -1822.228690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.138878 meters # Minimum depth: 1824.390846 meters looking forward 100.000000 meters along route # Maximum depth: 1831.369030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.390846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129997; longitude = -129.956412; duration = 412; initialDepth = 1772.460758; finalDepth = 1774.390846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1405669999999 # Actual altitude: 54.1405669999999 # Commanded vehicle depth: 1774.390846 # Seafloor depth: -1828.531413 # 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 20 # Segment length 103.597628 meters # Minimum depth: 1822.460758 meters looking forward 100.000000 meters along route # Maximum depth: 1827.824951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.460758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129242; longitude = -129.957189; duration = 414; initialDepth = 1771.526135; finalDepth = 1772.460758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.1405669999999 # Actual altitude: 54.1405669999999 # Commanded vehicle depth: 1772.460758 # Seafloor depth: -1824.049553 # 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; } # ####################################################### # # 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 150.029469 meters # Minimum depth: 1821.526135 meters looking forward 100.000000 meters along route # Maximum depth: 1834.963486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.526135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128484; longitude = -129.957969; duration = 600; # abortOnTimeout = True; initialDepth = 1783.610394; finalDepth = 1771.526135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.146015 # Actual altitude: 55.146015 # Commanded vehicle depth: 1771.526135 # Seafloor depth: -1826.672150 # 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 18 # Segment length 81.354981 meters # Minimum depth: 1833.610394 meters looking forward 100.000000 meters along route # Maximum depth: 1836.928282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.610394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129269; longitude = -129.959549; duration = 325; # abortOnTimeout = True; initialDepth = 1776.516717; finalDepth = 1783.610394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.146015 # Actual altitude: 55.146015 # Commanded vehicle depth: 1783.610394 # Seafloor depth: -1836.076599 # 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 18 # Segment length 103.138517 meters # Minimum depth: 1826.516717 meters looking forward 100.000000 meters along route # Maximum depth: 1835.579984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.516717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129865; longitude = -129.958936; duration = 412; initialDepth = 1776.416666; finalDepth = 1776.516717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.063267 # Actual altitude: 59.063267 # Commanded vehicle depth: 1776.516717 # Seafloor depth: -1835.579984 # 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 18 # Segment length 104.843551 meters # Minimum depth: 1826.416666 meters looking forward 100.000000 meters along route # Maximum depth: 1836.195199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.416666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130619; longitude = -129.958160; duration = 419; initialDepth = 1774.178230; finalDepth = 1776.416666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.063267 # Actual altitude: 59.063267 # Commanded vehicle depth: 1776.416666 # Seafloor depth: -1826.813857 # 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 18 # Segment length 101.432046 meters # Minimum depth: 1824.178230 meters looking forward 100.000000 meters along route # Maximum depth: 1835.736860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.178230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131387; longitude = -129.957370; duration = 405; initialDepth = 1774.312839; finalDepth = 1774.178230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.55863 # Actual altitude: 61.55863 # Commanded vehicle depth: 1774.17823 # Seafloor depth: -1835.736860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.137079 meters # Minimum depth: 1824.312839 meters looking forward 100.000000 meters along route # Maximum depth: 1830.377785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.312839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132129; longitude = -129.956606; duration = 412; initialDepth = 1775.219763; finalDepth = 1774.312839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.55863 # Actual altitude: 61.55863 # Commanded vehicle depth: 1774.312839 # Seafloor depth: -1824.496103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.893740 meters # Minimum depth: 1825.219763 meters looking forward 100.000000 meters along route # Maximum depth: 1849.616135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.219763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132884; longitude = -129.955830; duration = 419; initialDepth = 1798.434332; finalDepth = 1775.219763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.183264 # Actual altitude: 50.183264 # Commanded vehicle depth: 1775.219763 # Seafloor depth: -1825.304245 # 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 18 # Segment length 101.378981 meters # Minimum depth: 1848.434332 meters looking forward 100.000000 meters along route # Maximum depth: 1852.217653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.434332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133652; longitude = -129.955040; duration = 405; initialDepth = 1796.999488; finalDepth = 1798.434332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.084482 # Actual altitude: 50.084482 # Commanded vehicle depth: 1798.434332 # Seafloor depth: -1848.434332 # 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 18 # Segment length 103.135641 meters # Minimum depth: 1846.999488 meters looking forward 100.000000 meters along route # Maximum depth: 1850.933645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.999488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134394; longitude = -129.954276; duration = 412; initialDepth = 1795.664834; finalDepth = 1796.999488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9341570000001 # Actual altitude: 53.9341570000001 # Commanded vehicle depth: 1796.999488 # Seafloor depth: -1850.933645 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.943928 meters # Minimum depth: 1845.664834 meters looking forward 100.000000 meters along route # Maximum depth: 1848.863998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.664834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135149; longitude = -129.953500; duration = 419; initialDepth = 1781.941554; finalDepth = 1795.664834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9341570000001 # Actual altitude: 53.9341570000001 # Commanded vehicle depth: 1795.664834 # Seafloor depth: -1846.936155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.325917 meters # Minimum depth: 1831.941554 meters looking forward 100.000000 meters along route # Maximum depth: 1853.511483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.941554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135917; longitude = -129.952709; duration = 405; initialDepth = 1764.728763; finalDepth = 1781.941554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3084140000001 # Actual altitude: 67.3084140000001 # Commanded vehicle depth: 1781.941554 # Seafloor depth: -1849.249968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.134203 meters # Minimum depth: 1814.728763 meters looking forward 100.000000 meters along route # Maximum depth: 1832.692580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.728763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136659; longitude = -129.951946; duration = 412; initialDepth = 1762.775885; finalDepth = 1764.728763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9638169999998 # Actual altitude: 67.9638169999998 # Commanded vehicle depth: 1764.728763 # Seafloor depth: -1832.692580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.994116 meters # Minimum depth: 1812.775885 meters looking forward 100.000000 meters along route # Maximum depth: 1816.536880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.775885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137414; longitude = -129.951170; duration = 419; initialDepth = 1764.675579; finalDepth = 1762.775885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9638169999998 # Actual altitude: 67.9638169999998 # Commanded vehicle depth: 1762.775885 # Seafloor depth: -1815.538379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.272854 meters # Minimum depth: 1814.675579 meters looking forward 100.000000 meters along route # Maximum depth: 1820.184220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.675579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138183; longitude = -129.950379; duration = 405; initialDepth = 1763.157064; finalDepth = 1764.675579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7624940000001 # Actual altitude: 52.7624940000001 # Commanded vehicle depth: 1764.675579 # Seafloor depth: -1815.595199 # 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 18 # Segment length 103.132766 meters # Minimum depth: 1813.157064 meters looking forward 100.000000 meters along route # Maximum depth: 1816.943813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.157064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138924; longitude = -129.949616; duration = 412; initialDepth = 1764.102218; finalDepth = 1763.157064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1806919999999 # Actual altitude: 51.1806919999999 # Commanded vehicle depth: 1763.157064 # Seafloor depth: -1814.337756 # 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 18 # Segment length 105.044301 meters # Minimum depth: 1814.102218 meters looking forward 100.000000 meters along route # Maximum depth: 1817.829306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.102218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139679; longitude = -129.948840; duration = 420; initialDepth = 1765.534949; finalDepth = 1764.102218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.390613 # Actual altitude: 51.390613 # Commanded vehicle depth: 1764.102218 # Seafloor depth: -1815.492831 # 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 18 # Segment length 101.219793 meters # Minimum depth: 1815.534949 meters looking forward 100.000000 meters along route # Maximum depth: 1816.880382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.534949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140448; longitude = -129.948049; duration = 404; initialDepth = 1762.489802; finalDepth = 1765.534949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.390613 # Actual altitude: 51.390613 # Commanded vehicle depth: 1765.534949 # Seafloor depth: -1816.842255 # 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 18 # Segment length 103.131328 meters # Minimum depth: 1812.489802 meters looking forward 100.000000 meters along route # Maximum depth: 1816.098844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.489802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141189; longitude = -129.947286; duration = 412; initialDepth = 1725.397853; finalDepth = 1762.489802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.609042 # Actual altitude: 53.609042 # Commanded vehicle depth: 1762.489802 # Seafloor depth: -1816.098844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.094486 meters # Minimum depth: 1775.397853 meters looking forward 100.000000 meters along route # Maximum depth: 1812.566630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.397853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141944; longitude = -129.946510; duration = 420; initialDepth = 1715.488274; finalDepth = 1725.397853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.1687770000001 # Actual altitude: 87.1687770000001 # Commanded vehicle depth: 1725.397853 # Seafloor depth: -1812.566630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.166733 meters # Minimum depth: 1765.488274 meters looking forward 100.000000 meters along route # Maximum depth: 1775.417615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.488274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142713; longitude = -129.945718; duration = 404; initialDepth = 1719.177357; finalDepth = 1715.488274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.1687770000001 # Actual altitude: 87.1687770000001 # Commanded vehicle depth: 1715.488274 # Seafloor depth: -1775.417615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.129890 meters # Minimum depth: 1769.177357 meters looking forward 100.000000 meters along route # Maximum depth: 1800.542323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.177357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143454; longitude = -129.944956; duration = 412; initialDepth = 1750.784068; finalDepth = 1719.177357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.929341 # Actual altitude: 59.929341 # Commanded vehicle depth: 1719.177357 # Seafloor depth: -1769.177357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.144669 meters # Minimum depth: 1800.784068 meters looking forward 100.000000 meters along route # Maximum depth: 1815.252871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.784068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144209; longitude = -129.944180; duration = 420; initialDepth = 1747.602334; finalDepth = 1750.784068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1750.784068 # Seafloor depth: -1800.784068 # 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 101.113675 meters # Minimum depth: 1797.602334 meters looking forward 100.000000 meters along route # Maximum depth: 1811.732955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.602334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144979; longitude = -129.943388; duration = 404; initialDepth = 1728.094950; finalDepth = 1747.602334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.130621 # Actual altitude: 64.130621 # Commanded vehicle depth: 1747.602334 # Seafloor depth: -1811.732955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.128453 meters # Minimum depth: 1778.094950 meters looking forward 100.000000 meters along route # Maximum depth: 1800.857994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.094950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145719; longitude = -129.942626; duration = 412; initialDepth = 1728.659806; finalDepth = 1728.094950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.763044 # Actual altitude: 72.763044 # Commanded vehicle depth: 1728.09495 # Seafloor depth: -1800.857994 # 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 18 # Segment length 105.194851 meters # Minimum depth: 1778.659806 meters looking forward 100.000000 meters along route # Maximum depth: 1804.355334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.659806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146474; longitude = -129.941850; duration = 420; initialDepth = 1745.297307; finalDepth = 1728.659806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.763044 # Actual altitude: 72.763044 # Commanded vehicle depth: 1728.659806 # Seafloor depth: -1778.659806 # 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 18 # Segment length 101.060618 meters # Minimum depth: 1795.297307 meters looking forward 100.000000 meters along route # Maximum depth: 1801.986418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.297307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147244; longitude = -129.941058; duration = 404; initialDepth = 1751.260862; finalDepth = 1745.297307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1745.297307 # Seafloor depth: -1795.297307 # 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 103.127016 meters # Minimum depth: 1801.260862 meters looking forward 100.000000 meters along route # Maximum depth: 1806.874312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.260862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147984; longitude = -129.940296; duration = 412; initialDepth = 1750.717928; finalDepth = 1751.260862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.957899 # Actual altitude: 50.957899 # Commanded vehicle depth: 1751.260862 # Seafloor depth: -1802.218761 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.245031 meters # Minimum depth: 1800.717928 meters looking forward 100.000000 meters along route # Maximum depth: 1806.900527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.717928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148739; longitude = -129.939520; duration = 420; initialDepth = 1754.927792; finalDepth = 1750.717928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.182599 # Actual altitude: 56.182599 # Commanded vehicle depth: 1750.717928 # Seafloor depth: -1806.900527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.007563 meters # Minimum depth: 1804.927792 meters looking forward 100.000000 meters along route # Maximum depth: 1825.892524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.927792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149509; longitude = -129.938727; duration = 404; initialDepth = 1775.665497; finalDepth = 1754.927792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.182599 # Actual altitude: 56.182599 # Commanded vehicle depth: 1754.927792 # Seafloor depth: -1805.514175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.125579 meters # Minimum depth: 1825.665497 meters looking forward 100.000000 meters along route # Maximum depth: 1863.048008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.665497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150248; longitude = -129.937967; duration = 412; initialDepth = 1811.126216; finalDepth = 1775.665497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5863830000001 # Actual altitude: 50.5863830000001 # Commanded vehicle depth: 1775.665497 # Seafloor depth: -1826.156073 # 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 18 # Segment length 105.295210 meters # Minimum depth: 1861.126216 meters looking forward 100.000000 meters along route # Maximum depth: 1868.693613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.126216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151003; longitude = -129.937190; duration = 421; initialDepth = 1800.343757; finalDepth = 1811.126216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7466449999999 # Actual altitude: 51.7466449999999 # Commanded vehicle depth: 1811.126216 # Seafloor depth: -1862.872861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.954509 meters # Minimum depth: 1850.343757 meters looking forward 100.000000 meters along route # Maximum depth: 1865.314410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.343757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151774; longitude = -129.936397; duration = 403; initialDepth = 1796.415875; finalDepth = 1800.343757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.563461 # Actual altitude: 60.563461 # Commanded vehicle depth: 1800.343757 # Seafloor depth: -1860.907218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.124141 meters # Minimum depth: 1846.415875 meters looking forward 100.000000 meters along route # Maximum depth: 1861.991277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.415875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152513; longitude = -129.935637; duration = 412; initialDepth = 1780.516980; finalDepth = 1796.415875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5389600000001 # Actual altitude: 64.5389600000001 # Commanded vehicle depth: 1796.415875 # Seafloor depth: -1860.954835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.345388 meters # Minimum depth: 1830.516980 meters looking forward 100.000000 meters along route # Maximum depth: 1845.995136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.516980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153268; longitude = -129.934860; duration = 421; initialDepth = 1772.312118; finalDepth = 1780.516980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4781559999999 # Actual altitude: 65.4781559999999 # Commanded vehicle depth: 1780.51698 # Seafloor depth: -1845.995136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.901457 meters # Minimum depth: 1822.312118 meters looking forward 100.000000 meters along route # Maximum depth: 1830.572587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.312118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154040; longitude = -129.934066; duration = 403; initialDepth = 1772.266415; finalDepth = 1772.312118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4781559999999 # Actual altitude: 65.4781559999999 # Commanded vehicle depth: 1772.312118 # Seafloor depth: -1830.572587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.122704 meters # Minimum depth: 1822.266415 meters looking forward 100.000000 meters along route # Maximum depth: 1825.111026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.266415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154778; longitude = -129.933307; duration = 412; initialDepth = 1773.430577; finalDepth = 1772.266415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2604690000001 # Actual altitude: 58.2604690000001 # Commanded vehicle depth: 1772.266415 # Seafloor depth: -1822.266415 # 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 18 # Segment length 105.395564 meters # Minimum depth: 1823.430577 meters looking forward 100.000000 meters along route # Maximum depth: 1838.521255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.430577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155533; longitude = -129.932530; duration = 421; initialDepth = 1788.468196; finalDepth = 1773.430577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1434379999998 # Actual altitude: 50.1434379999998 # Commanded vehicle depth: 1773.430577 # Seafloor depth: -1823.574015 # 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 18 # Segment length 100.848407 meters # Minimum depth: 1838.468196 meters looking forward 100.000000 meters along route # Maximum depth: 1877.770716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.468196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156305; longitude = -129.931736; duration = 403; initialDepth = 1820.578829; finalDepth = 1788.468196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1434379999998 # Actual altitude: 50.1434379999998 # Commanded vehicle depth: 1788.468196 # Seafloor depth: -1838.468196 # 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 18 # Segment length 103.121267 meters # Minimum depth: 1870.578829 meters looking forward 100.000000 meters along route # Maximum depth: 1881.890065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.578829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157043; longitude = -129.930977; duration = 412; initialDepth = 1826.410896; finalDepth = 1820.578829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2767739999999 # Actual altitude: 56.2767739999999 # Commanded vehicle depth: 1820.578829 # Seafloor depth: -1876.855603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.445738 meters # Minimum depth: 1876.410896 meters looking forward 100.000000 meters along route # Maximum depth: 1891.412546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.410896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157798; longitude = -129.930200; duration = 421; initialDepth = 1817.371107; finalDepth = 1826.410896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2767739999999 # Actual altitude: 56.2767739999999 # Commanded vehicle depth: 1826.410896 # Seafloor depth: -1880.480249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.795358 meters # Minimum depth: 1867.371107 meters looking forward 100.000000 meters along route # Maximum depth: 1876.118373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.371107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158570; longitude = -129.929406; duration = 403; initialDepth = 1822.045061; finalDepth = 1817.371107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7472660000001 # Actual altitude: 58.7472660000001 # Commanded vehicle depth: 1817.371107 # Seafloor depth: -1876.118373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.119830 meters # Minimum depth: 1872.045061 meters looking forward 100.000000 meters along route # Maximum depth: 1888.148484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.045061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159308; longitude = -129.928647; duration = 412; initialDepth = 1825.477442; finalDepth = 1822.045061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7472660000001 # Actual altitude: 58.7472660000001 # Commanded vehicle depth: 1822.045061 # Seafloor depth: -1872.328068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.495912 meters # Minimum depth: 1875.477442 meters looking forward 100.000000 meters along route # Maximum depth: 1889.527135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.477442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160063; longitude = -129.927870; duration = 421; initialDepth = 1821.796935; finalDepth = 1825.477442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.431259 # Actual altitude: 62.431259 # Commanded vehicle depth: 1825.477442 # Seafloor depth: -1887.908701 # 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 18 # Segment length 100.742310 meters # Minimum depth: 1871.796935 meters looking forward 100.000000 meters along route # Maximum depth: 1876.172211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.796935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160835; longitude = -129.927075; duration = 402; initialDepth = 1824.203991; finalDepth = 1821.796935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.431259 # Actual altitude: 62.431259 # Commanded vehicle depth: 1821.796935 # Seafloor depth: -1876.172211 # 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 18 # Segment length 103.118393 meters # Minimum depth: 1874.203991 meters looking forward 100.000000 meters along route # Maximum depth: 1891.519043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.203991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161573; longitude = -129.926317; duration = 412; initialDepth = 1841.692350; finalDepth = 1824.203991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.375276 # Actual altitude: 54.375276 # Commanded vehicle depth: 1824.203991 # Seafloor depth: -1874.203991 # 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 18 # Segment length 105.546084 meters # Minimum depth: 1891.692350 meters looking forward 100.000000 meters along route # Maximum depth: 1913.259395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.692350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162328; longitude = -129.925540; duration = 422; initialDepth = 1863.291396; finalDepth = 1841.692350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.69235 # Seafloor depth: -1891.692350 # 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 100.689265 meters # Minimum depth: 1913.291396 meters looking forward 100.000000 meters along route # Maximum depth: 1927.728967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.291396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163101; longitude = -129.924745; duration = 402; initialDepth = 1878.117385; finalDepth = 1863.291396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1863.291396 # Seafloor depth: -1913.291396 # 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 103.116955 meters # Minimum depth: 1928.117385 meters looking forward 100.000000 meters along route # Maximum depth: 1945.469780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.117385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163838; longitude = -129.923987; duration = 412; initialDepth = 1877.799767; finalDepth = 1878.117385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1878.117385 # Seafloor depth: -1928.117385 # 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 105.596255 meters # Minimum depth: 1927.799767 meters looking forward 100.000000 meters along route # Maximum depth: 1947.089417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.799767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164593; longitude = -129.923210; duration = 422; initialDepth = 1882.994214; finalDepth = 1877.799767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6132850000001 # Actual altitude: 66.6132850000001 # Commanded vehicle depth: 1877.799767 # Seafloor depth: -1944.413052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.636220 meters # Minimum depth: 1932.994214 meters looking forward 100.000000 meters along route # Maximum depth: 1961.352839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.994214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165366; longitude = -129.922415; duration = 402; initialDepth = 1902.654606; finalDepth = 1882.994214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6132850000001 # Actual altitude: 66.6132850000001 # Commanded vehicle depth: 1882.994214 # Seafloor depth: -1932.994214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.115519 meters # Minimum depth: 1952.654606 meters looking forward 100.000000 meters along route # Maximum depth: 1963.359483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.654606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166103; longitude = -129.921657; duration = 412; initialDepth = 1890.195567; finalDepth = 1902.654606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4668649999999 # Actual altitude: 58.4668649999999 # Commanded vehicle depth: 1902.654606 # Seafloor depth: -1961.121471 # 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 18 # Segment length 105.646425 meters # Minimum depth: 1940.195567 meters looking forward 100.000000 meters along route # Maximum depth: 1958.928314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.195567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166858; longitude = -129.920880; duration = 422; initialDepth = 1899.715882; finalDepth = 1890.195567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.135389 # Actual altitude: 62.135389 # Commanded vehicle depth: 1890.195567 # Seafloor depth: -1952.330956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 100.583176 meters # Minimum depth: 1949.715882 meters looking forward 100.000000 meters along route # Maximum depth: 1958.852427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.715882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167631; longitude = -129.920084; duration = 402; initialDepth = 1895.163656; finalDepth = 1899.715882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.135389 # Actual altitude: 62.135389 # Commanded vehicle depth: 1899.715882 # Seafloor depth: -1958.288185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 103.114083 meters # Minimum depth: 1945.163656 meters looking forward 100.000000 meters along route # Maximum depth: 1951.152694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.163656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168368; longitude = -129.919327; duration = 412; initialDepth = 1882.660243; finalDepth = 1895.163656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5723030000001 # Actual altitude: 58.5723030000001 # Commanded vehicle depth: 1895.163656 # Seafloor depth: -1950.328778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.089845 meters # Minimum depth: 1932.660243 meters looking forward 100.000000 meters along route # Maximum depth: 1946.465213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.660243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169123; longitude = -129.918550; duration = 408; initialDepth = 1861.475667; finalDepth = 1882.660243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.371617 # Actual altitude: 62.371617 # Commanded vehicle depth: 1882.660243 # Seafloor depth: -1945.031860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.082032 meters # Minimum depth: 1911.475667 meters looking forward 100.000000 meters along route # Maximum depth: 1943.165405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.475667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169870; longitude = -129.917781; duration = 600; # abortOnTimeout = True; initialDepth = 1858.306481; finalDepth = 1861.475667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.689738 # Actual altitude: 81.689738 # Commanded vehicle depth: 1861.475667 # Seafloor depth: -1943.165405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 81.233377 meters # Minimum depth: 1908.306481 meters looking forward 100.000000 meters along route # Maximum depth: 1918.435663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.306481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170656; longitude = -129.919362; duration = 324; # abortOnTimeout = True; initialDepth = 1863.996530; finalDepth = 1858.306481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.689738 # Actual altitude: 81.689738 # Commanded vehicle depth: 1858.306481 # Seafloor depth: -1917.513092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 103.118516 meters # Minimum depth: 1913.996530 meters looking forward 100.000000 meters along route # Maximum depth: 1918.321307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.996530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170061; longitude = -129.919974; duration = 412; initialDepth = 1860.200847; finalDepth = 1863.996530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2066109999998 # Actual altitude: 59.2066109999998 # Commanded vehicle depth: 1863.99653 # Seafloor depth: -1916.044435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.022382 meters # Minimum depth: 1910.200847 meters looking forward 100.000000 meters along route # Maximum depth: 1914.693615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.200847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169306; longitude = -129.920750; duration = 420; initialDepth = 1856.328363; finalDepth = 1860.200847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4927679999998 # Actual altitude: 54.4927679999998 # Commanded vehicle depth: 1860.200847 # Seafloor depth: -1914.693615 # 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 16 # Segment length 101.216087 meters # Minimum depth: 1906.328363 meters looking forward 100.000000 meters along route # Maximum depth: 1914.246014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.328363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168537; longitude = -129.921541; duration = 404; initialDepth = 1856.026310; finalDepth = 1856.328363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.917651 # Actual altitude: 57.917651 # Commanded vehicle depth: 1856.328363 # Seafloor depth: -1914.246014 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.119953 meters # Minimum depth: 1906.026310 meters looking forward 100.000000 meters along route # Maximum depth: 1912.478813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.026310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167796; longitude = -129.922304; duration = 412; initialDepth = 1856.550554; finalDepth = 1856.026310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.917651 # Actual altitude: 57.917651 # Commanded vehicle depth: 1856.02631 # Seafloor depth: -1907.279181 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.052841 meters # Minimum depth: 1906.550554 meters looking forward 100.000000 meters along route # Maximum depth: 1919.481998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.550554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167041; longitude = -129.923080; duration = 420; initialDepth = 1869.800921; finalDepth = 1856.550554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.498478 # Actual altitude: 55.498478 # Commanded vehicle depth: 1856.550554 # Seafloor depth: -1912.049032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.188502 meters # Minimum depth: 1919.800921 meters looking forward 100.000000 meters along route # Maximum depth: 1937.831632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.800921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166272; longitude = -129.923872; duration = 404; initialDepth = 1872.933164; finalDepth = 1869.800921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.498478 # Actual altitude: 55.498478 # Commanded vehicle depth: 1869.800921 # Seafloor depth: -1919.800921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.121390 meters # Minimum depth: 1922.933164 meters looking forward 100.000000 meters along route # Maximum depth: 1935.429674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.933164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165531; longitude = -129.924634; duration = 412; initialDepth = 1858.051015; finalDepth = 1872.933164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4965099999999 # Actual altitude: 62.4965099999999 # Commanded vehicle depth: 1872.933164 # Seafloor depth: -1935.429674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.083300 meters # Minimum depth: 1908.051015 meters looking forward 100.000000 meters along route # Maximum depth: 1922.606210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.051015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164776; longitude = -129.925410; duration = 420; initialDepth = 1843.779698; finalDepth = 1858.051015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5551949999999 # Actual altitude: 64.5551949999999 # Commanded vehicle depth: 1858.051015 # Seafloor depth: -1922.606210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.160917 meters # Minimum depth: 1893.779698 meters looking forward 100.000000 meters along route # Maximum depth: 1908.012950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.779698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164007; longitude = -129.926202; duration = 404; initialDepth = 1829.081068; finalDepth = 1843.779698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5551949999999 # Actual altitude: 64.5551949999999 # Commanded vehicle depth: 1843.779698 # Seafloor depth: -1908.012950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.122827 meters # Minimum depth: 1879.081068 meters looking forward 100.000000 meters along route # Maximum depth: 1894.400278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.081068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163266; longitude = -129.926964; duration = 412; initialDepth = 1818.471986; finalDepth = 1829.081068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3192100000001 # Actual altitude: 65.3192100000001 # Commanded vehicle depth: 1829.081068 # Seafloor depth: -1894.400278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.113760 meters # Minimum depth: 1868.471986 meters looking forward 100.000000 meters along route # Maximum depth: 1880.204029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.471986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162511; longitude = -129.927740; duration = 420; initialDepth = 1814.793524; finalDepth = 1818.471986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3192100000001 # Actual altitude: 65.3192100000001 # Commanded vehicle depth: 1818.471986 # Seafloor depth: -1879.233022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.133330 meters # Minimum depth: 1864.793524 meters looking forward 100.000000 meters along route # Maximum depth: 1881.535207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.793524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161741; longitude = -129.928532; duration = 404; initialDepth = 1823.858894; finalDepth = 1814.793524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7610359999999 # Actual altitude: 60.7610359999999 # Commanded vehicle depth: 1814.793524 # Seafloor depth: -1869.478729 # 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 16 # Segment length 103.124264 meters # Minimum depth: 1873.858894 meters looking forward 100.000000 meters along route # Maximum depth: 1880.797159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.858894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161001; longitude = -129.929294; duration = 412; initialDepth = 1819.752790; finalDepth = 1823.858894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.685205 # Actual altitude: 54.685205 # Commanded vehicle depth: 1823.858894 # Seafloor depth: -1873.858894 # 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 16 # Segment length 105.144222 meters # Minimum depth: 1869.752790 meters looking forward 100.000000 meters along route # Maximum depth: 1879.290687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.752790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160246; longitude = -129.930070; duration = 420; initialDepth = 1823.210265; finalDepth = 1819.752790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5378969999999 # Actual altitude: 59.5378969999999 # Commanded vehicle depth: 1819.75279 # Seafloor depth: -1879.290687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.105743 meters # Minimum depth: 1873.210265 meters looking forward 100.000000 meters along route # Maximum depth: 1880.806102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.210265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159476; longitude = -129.930862; duration = 404; initialDepth = 1819.411862; finalDepth = 1823.210265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5378969999999 # Actual altitude: 59.5378969999999 # Commanded vehicle depth: 1823.210265 # Seafloor depth: -1873.210265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.125701 meters # Minimum depth: 1869.411862 meters looking forward 100.000000 meters along route # Maximum depth: 1881.364552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.411862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158736; longitude = -129.931624; duration = 412; initialDepth = 1794.611433; finalDepth = 1819.411862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7019930000001 # Actual altitude: 61.7019930000001 # Commanded vehicle depth: 1819.411862 # Seafloor depth: -1881.113855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.174685 meters # Minimum depth: 1844.611433 meters looking forward 100.000000 meters along route # Maximum depth: 1870.497148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.611433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157981; longitude = -129.932400; duration = 420; initialDepth = 1788.047348; finalDepth = 1794.611433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6225629999999 # Actual altitude: 75.6225629999999 # Commanded vehicle depth: 1794.611433 # Seafloor depth: -1870.233996 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.078155 meters # Minimum depth: 1838.047348 meters looking forward 100.000000 meters along route # Maximum depth: 1844.214542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.047348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157211; longitude = -129.933193; duration = 404; initialDepth = 1780.595087; finalDepth = 1788.047348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6225629999999 # Actual altitude: 75.6225629999999 # Commanded vehicle depth: 1788.047348 # Seafloor depth: -1843.508071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.127138 meters # Minimum depth: 1830.595087 meters looking forward 100.000000 meters along route # Maximum depth: 1838.036844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.595087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156471; longitude = -129.933954; duration = 412; initialDepth = 1777.885952; finalDepth = 1780.595087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4417570000001 # Actual altitude: 57.4417570000001 # Commanded vehicle depth: 1780.595087 # Seafloor depth: -1838.036844 # 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 16 # Segment length 105.205148 meters # Minimum depth: 1827.885952 meters looking forward 100.000000 meters along route # Maximum depth: 1834.830087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.885952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155716; longitude = -129.934730; duration = 420; initialDepth = 1781.559406; finalDepth = 1777.885952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4417570000001 # Actual altitude: 57.4417570000001 # Commanded vehicle depth: 1777.885952 # Seafloor depth: -1831.822641 # 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 16 # Segment length 101.050566 meters # Minimum depth: 1831.559406 meters looking forward 100.000000 meters along route # Maximum depth: 1839.035101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.559406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154946; longitude = -129.935523; duration = 404; initialDepth = 1789.217427; finalDepth = 1781.559406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9366889999999 # Actual altitude: 53.9366889999999 # Commanded vehicle depth: 1781.559406 # Seafloor depth: -1834.583327 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.128576 meters # Minimum depth: 1839.217427 meters looking forward 100.000000 meters along route # Maximum depth: 1861.148559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.217427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154206; longitude = -129.936284; duration = 412; initialDepth = 1791.506893; finalDepth = 1789.217427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.023921 # Actual altitude: 53.023921 # Commanded vehicle depth: 1789.217427 # Seafloor depth: -1839.217427 # 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 16 # Segment length 105.235611 meters # Minimum depth: 1841.506893 meters looking forward 100.000000 meters along route # Maximum depth: 1862.927204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.506893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153451; longitude = -129.937060; duration = 420; initialDepth = 1781.198914; finalDepth = 1791.506893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7492360000001 # Actual altitude: 69.7492360000001 # Commanded vehicle depth: 1791.506893 # Seafloor depth: -1861.256129 # 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 16 # Segment length 101.022977 meters # Minimum depth: 1831.198914 meters looking forward 100.000000 meters along route # Maximum depth: 1841.825596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.198914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152680; longitude = -129.937853; duration = 404; initialDepth = 1770.670663; finalDepth = 1781.198914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7492360000001 # Actual altitude: 69.7492360000001 # Commanded vehicle depth: 1781.198914 # Seafloor depth: -1841.825596 # 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 16 # Segment length 103.130013 meters # Minimum depth: 1820.670663 meters looking forward 100.000000 meters along route # Maximum depth: 1841.932464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.670663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151941; longitude = -129.938614; duration = 412; initialDepth = 1757.325782; finalDepth = 1770.670663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8056299999998 # Actual altitude: 70.8056299999998 # Commanded vehicle depth: 1770.670663 # Seafloor depth: -1841.476293 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.266076 meters # Minimum depth: 1807.325782 meters looking forward 100.000000 meters along route # Maximum depth: 1820.660113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.325782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151186; longitude = -129.939390; duration = 421; initialDepth = 1756.070173; finalDepth = 1757.325782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8056299999998 # Actual altitude: 70.8056299999998 # Commanded vehicle depth: 1757.325782 # Seafloor depth: -1820.660113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.995388 meters # Minimum depth: 1806.070173 meters looking forward 100.000000 meters along route # Maximum depth: 1814.517397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.070173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150415; longitude = -129.940183; duration = 403; initialDepth = 1758.657489; finalDepth = 1756.070173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.334331 # Actual altitude: 63.334331 # Commanded vehicle depth: 1756.070173 # Seafloor depth: -1807.322973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.131450 meters # Minimum depth: 1808.657489 meters looking forward 100.000000 meters along route # Maximum depth: 1819.931678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.657489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149676; longitude = -129.940944; duration = 412; initialDepth = 1754.747733; finalDepth = 1758.657489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.597749 # Actual altitude: 55.597749 # Commanded vehicle depth: 1758.657489 # Seafloor depth: -1814.255238 # 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 16 # Segment length 105.296542 meters # Minimum depth: 1804.747733 meters looking forward 100.000000 meters along route # Maximum depth: 1812.283138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.747733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148921; longitude = -129.941720; duration = 421; initialDepth = 1758.027837; finalDepth = 1754.747733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.597749 # Actual altitude: 55.597749 # Commanded vehicle depth: 1754.747733 # Seafloor depth: -1808.644209 # 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 16 # Segment length 100.967797 meters # Minimum depth: 1808.027837 meters looking forward 100.000000 meters along route # Maximum depth: 1818.155374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.027837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148150; longitude = -129.942513; duration = 403; initialDepth = 1768.364062; finalDepth = 1758.027837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8964760000001 # Actual altitude: 53.8964760000001 # Commanded vehicle depth: 1758.027837 # Seafloor depth: -1810.052594 # 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 16 # Segment length 103.132887 meters # Minimum depth: 1818.364062 meters looking forward 100.000000 meters along route # Maximum depth: 1827.915154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.364062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147411; longitude = -129.943274; duration = 412; initialDepth = 1777.222045; finalDepth = 1768.364062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0247569999999 # Actual altitude: 52.0247569999999 # Commanded vehicle depth: 1768.364062 # Seafloor depth: -1818.834982 # 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 16 # Segment length 105.327009 meters # Minimum depth: 1827.222045 meters looking forward 100.000000 meters along route # Maximum depth: 1833.975621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.222045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146656; longitude = -129.944050; duration = 421; initialDepth = 1767.016177; finalDepth = 1777.222045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1839400000001 # Actual altitude: 51.1839400000001 # Commanded vehicle depth: 1777.222045 # Seafloor depth: -1828.405985 # 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 16 # Segment length 100.940205 meters # Minimum depth: 1817.016177 meters looking forward 100.000000 meters along route # Maximum depth: 1832.842200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.016177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145885; longitude = -129.944844; duration = 403; initialDepth = 1736.754811; finalDepth = 1767.016177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8260230000001 # Actual altitude: 65.8260230000001 # Commanded vehicle depth: 1767.016177 # Seafloor depth: -1832.842200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.134325 meters # Minimum depth: 1786.754811 meters looking forward 100.000000 meters along route # Maximum depth: 1823.675853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.754811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145146; longitude = -129.945604; duration = 412; initialDepth = 1737.202951; finalDepth = 1736.754811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8258020000001 # Actual altitude: 81.8258020000001 # Commanded vehicle depth: 1736.754811 # Seafloor depth: -1818.580613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.357476 meters # Minimum depth: 1787.202951 meters looking forward 100.000000 meters along route # Maximum depth: 1816.249876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.202951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144391; longitude = -129.946380; duration = 421; initialDepth = 1764.976802; finalDepth = 1737.202951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8258020000001 # Actual altitude: 81.8258020000001 # Commanded vehicle depth: 1737.202951 # Seafloor depth: -1787.202951 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.912613 meters # Minimum depth: 1814.976802 meters looking forward 100.000000 meters along route # Maximum depth: 1826.838243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.976802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143619; longitude = -129.947174; duration = 403; initialDepth = 1767.761706; finalDepth = 1764.976802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1764.976802 # Seafloor depth: -1814.976802 # 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 16 # Segment length 103.135763 meters # Minimum depth: 1817.761706 meters looking forward 100.000000 meters along route # Maximum depth: 1833.494576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.761706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142881; longitude = -129.947934; duration = 412; initialDepth = 1776.054946; finalDepth = 1767.761706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.150517 # Actual altitude: 59.150517 # Commanded vehicle depth: 1767.761706 # Seafloor depth: -1826.912223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.387944 meters # Minimum depth: 1826.054946 meters looking forward 100.000000 meters along route # Maximum depth: 1833.431814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.054946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142126; longitude = -129.948710; duration = 421; initialDepth = 1777.337209; finalDepth = 1776.054946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.150517 # Actual altitude: 59.150517 # Commanded vehicle depth: 1776.054946 # Seafloor depth: -1833.307488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.885020 meters # Minimum depth: 1827.337209 meters looking forward 100.000000 meters along route # Maximum depth: 1830.966935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.337209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141354; longitude = -129.949504; duration = 403; initialDepth = 1775.827412; finalDepth = 1777.337209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2525419999999 # Actual altitude: 57.2525419999999 # Commanded vehicle depth: 1777.337209 # Seafloor depth: -1827.666116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.137201 meters # Minimum depth: 1825.827412 meters looking forward 100.000000 meters along route # Maximum depth: 1832.460711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.827412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140616; longitude = -129.950264; duration = 412; initialDepth = 1780.944389; finalDepth = 1775.827412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1801329999998 # Actual altitude: 55.1801329999998 # Commanded vehicle depth: 1775.827412 # Seafloor depth: -1831.007545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.418414 meters # Minimum depth: 1830.944389 meters looking forward 100.000000 meters along route # Maximum depth: 1839.101079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.944389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139861; longitude = -129.951040; duration = 421; initialDepth = 1781.231877; finalDepth = 1780.944389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1801329999998 # Actual altitude: 55.1801329999998 # Commanded vehicle depth: 1780.944389 # Seafloor depth: -1830.944389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.857426 meters # Minimum depth: 1831.231877 meters looking forward 100.000000 meters along route # Maximum depth: 1837.850771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.231877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139089; longitude = -129.951834; duration = 403; initialDepth = 1771.547443; finalDepth = 1781.231877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.618894 # Actual altitude: 56.618894 # Commanded vehicle depth: 1781.231877 # Seafloor depth: -1837.850771 # 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 103.138639 meters # Minimum depth: 1821.547443 meters looking forward 100.000000 meters along route # Maximum depth: 1830.349943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.547443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138350; longitude = -129.952594; duration = 412; initialDepth = 1770.050926; finalDepth = 1771.547443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8025 # Actual altitude: 58.8025 # Commanded vehicle depth: 1771.547443 # Seafloor depth: -1830.349943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.448883 meters # Minimum depth: 1820.050926 meters looking forward 100.000000 meters along route # Maximum depth: 1831.613310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.050926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137595; longitude = -129.953370; duration = 421; initialDepth = 1770.729291; finalDepth = 1770.050926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8025 # Actual altitude: 58.8025 # Commanded vehicle depth: 1770.050926 # Seafloor depth: -1827.281971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.829832 meters # Minimum depth: 1820.729291 meters looking forward 100.000000 meters along route # Maximum depth: 1827.776371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.729291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136824; longitude = -129.954164; duration = 403; initialDepth = 1776.293760; finalDepth = 1770.729291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2310450000002 # Actual altitude: 57.2310450000002 # Commanded vehicle depth: 1770.729291 # Seafloor depth: -1820.729291 # 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 16 # Segment length 103.140076 meters # Minimum depth: 1826.293760 meters looking forward 100.000000 meters along route # Maximum depth: 1833.629719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.293760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136085; longitude = -129.954924; duration = 412; initialDepth = 1782.289151; finalDepth = 1776.293760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1776.29376 # Seafloor depth: -1826.293760 # 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 16 # Segment length 105.479355 meters # Minimum depth: 1832.289151 meters looking forward 100.000000 meters along route # Maximum depth: 1836.418344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.289151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135330; longitude = -129.955700; duration = 421; initialDepth = 1779.053526; finalDepth = 1782.289151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1782.289151 # Seafloor depth: -1832.289151 # 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 16 # Segment length 100.802236 meters # Minimum depth: 1829.053526 meters looking forward 100.000000 meters along route # Maximum depth: 1835.591885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.053526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134558; longitude = -129.956495; duration = 403; initialDepth = 1770.767657; finalDepth = 1779.053526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.913491 # Actual altitude: 53.913491 # Commanded vehicle depth: 1779.053526 # Seafloor depth: -1832.967017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.141515 meters # Minimum depth: 1820.767657 meters looking forward 100.000000 meters along route # Maximum depth: 1829.336766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.767657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133820; longitude = -129.957254; duration = 412; initialDepth = 1768.883946; finalDepth = 1770.767657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5449749999998 # Actual altitude: 58.5449749999998 # Commanded vehicle depth: 1770.767657 # Seafloor depth: -1829.312632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.509827 meters # Minimum depth: 1818.883946 meters looking forward 100.000000 meters along route # Maximum depth: 1821.141162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.883946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133065; longitude = -129.958030; duration = 422; initialDepth = 1763.367729; finalDepth = 1768.883946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5449749999998 # Actual altitude: 58.5449749999998 # Commanded vehicle depth: 1768.883946 # Seafloor depth: -1820.531486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.774640 meters # Minimum depth: 1813.367729 meters looking forward 100.000000 meters along route # Maximum depth: 1820.519516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.367729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132293; longitude = -129.958825; duration = 403; initialDepth = 1758.464293; finalDepth = 1763.367729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8522719999999 # Actual altitude: 56.8522719999999 # Commanded vehicle depth: 1763.367729 # Seafloor depth: -1820.220001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 103.142953 meters # Minimum depth: 1808.464293 meters looking forward 100.000000 meters along route # Maximum depth: 1818.888856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.464293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131555; longitude = -129.959584; duration = 412; initialDepth = 1758.533871; finalDepth = 1758.464293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9631159999999 # Actual altitude: 56.9631159999999 # Commanded vehicle depth: 1758.464293 # Seafloor depth: -1815.427409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.091746 meters # Minimum depth: 1808.533871 meters looking forward 100.000000 meters along route # Maximum depth: 1815.750116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.533871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130800; longitude = -129.960360; duration = 408; initialDepth = 1762.665330; finalDepth = 1758.533871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.9631159999999 # Actual altitude: 56.9631159999999 # Commanded vehicle depth: 1758.533871 # Seafloor depth: -1808.533871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 149.963881 meters # Minimum depth: 1812.665330 meters looking forward 100.000000 meters along route # Maximum depth: 1816.608029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.665330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130053; longitude = -129.961129; duration = 599; # abortOnTimeout = True; initialDepth = 1756.513068; finalDepth = 1762.665330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5999899999999 # Actual altitude: 51.5999899999999 # Commanded vehicle depth: 1762.66533 # Seafloor depth: -1814.265320 # 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; } # ####################################################### # # 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 79.716687 meters # Minimum depth: 1806.513068 meters looking forward 100.000000 meters along route # Maximum depth: 1816.608029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.513068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130838; longitude = -129.962708; duration = 318; # abortOnTimeout = True; initialDepth = 1752.140910; finalDepth = 1756.513068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.888238 # Actual altitude: 58.888238 # Commanded vehicle depth: 1756.513068 # Seafloor depth: -1815.401306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 103.144227 meters # Minimum depth: 1802.140910 meters looking forward 100.000000 meters along route # Maximum depth: 1816.935794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.140910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131422; longitude = -129.962108; duration = 412; initialDepth = 1766.337255; finalDepth = 1752.140910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.888238 # Actual altitude: 58.888238 # Commanded vehicle depth: 1752.14091 # Seafloor depth: -1805.916663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.322572 meters # Minimum depth: 1816.337255 meters looking forward 100.000000 meters along route # Maximum depth: 1819.600448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.337255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132177; longitude = -129.961331; duration = 417; initialDepth = 1769.764319; finalDepth = 1766.337255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7757529999999 # Actual altitude: 53.7757529999999 # Commanded vehicle depth: 1766.337255 # Seafloor depth: -1817.102315 # 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 14 # Segment length 101.964443 meters # Minimum depth: 1819.764319 meters looking forward 100.000000 meters along route # Maximum depth: 1825.811693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.764319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132940; longitude = -129.960546; duration = 407; initialDepth = 1771.394048; finalDepth = 1769.764319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7650600000002 # Actual altitude: 50.7650600000002 # Commanded vehicle depth: 1769.764319 # Seafloor depth: -1819.764319 # 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 14 # Segment length 103.142789 meters # Minimum depth: 1821.394048 meters looking forward 100.000000 meters along route # Maximum depth: 1827.887615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.394048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133687; longitude = -129.959778; duration = 412; initialDepth = 1777.747580; finalDepth = 1771.394048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.04765 # Actual altitude: 54.04765 # Commanded vehicle depth: 1771.394048 # Seafloor depth: -1825.441698 # 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 14 # Segment length 104.342710 meters # Minimum depth: 1827.747580 meters looking forward 100.000000 meters along route # Maximum depth: 1832.239073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.747580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134442; longitude = -129.959001; duration = 417; initialDepth = 1776.879583; finalDepth = 1777.747580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.04765 # Actual altitude: 54.04765 # Commanded vehicle depth: 1777.74758 # Seafloor depth: -1828.238672 # 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 14 # Segment length 101.941429 meters # Minimum depth: 1826.879583 meters looking forward 100.000000 meters along route # Maximum depth: 1830.292956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.879583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135206; longitude = -129.958215; duration = 407; initialDepth = 1777.472562; finalDepth = 1776.879583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4745700000001 # Actual altitude: 51.4745700000001 # Commanded vehicle depth: 1776.879583 # Seafloor depth: -1828.354153 # 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 14 # Segment length 103.141351 meters # Minimum depth: 1827.472562 meters looking forward 100.000000 meters along route # Maximum depth: 1830.350689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.472562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135952; longitude = -129.957448; duration = 412; initialDepth = 1777.011619; finalDepth = 1777.472562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4745700000001 # Actual altitude: 51.4745700000001 # Commanded vehicle depth: 1777.472562 # Seafloor depth: -1827.881141 # 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 14 # Segment length 104.362847 meters # Minimum depth: 1827.011619 meters looking forward 100.000000 meters along route # Maximum depth: 1831.385680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.011619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136707; longitude = -129.956671; duration = 417; initialDepth = 1775.080072; finalDepth = 1777.011619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2282499999999 # Actual altitude: 53.2282499999999 # Commanded vehicle depth: 1777.011619 # Seafloor depth: -1830.239869 # 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 14 # Segment length 101.918416 meters # Minimum depth: 1825.080072 meters looking forward 100.000000 meters along route # Maximum depth: 1830.537227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.080072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137471; longitude = -129.955885; duration = 407; initialDepth = 1777.545162; finalDepth = 1775.080072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2282499999999 # Actual altitude: 53.2282499999999 # Commanded vehicle depth: 1775.080072 # Seafloor depth: -1827.253847 # 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 14 # Segment length 103.139912 meters # Minimum depth: 1827.545162 meters looking forward 100.000000 meters along route # Maximum depth: 1833.063408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.545162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138217; longitude = -129.955118; duration = 412; initialDepth = 1774.315449; finalDepth = 1777.545162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.173775 # Actual altitude: 52.173775 # Commanded vehicle depth: 1777.545162 # Seafloor depth: -1828.322899 # 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 104.382984 meters # Minimum depth: 1824.315449 meters looking forward 100.000000 meters along route # Maximum depth: 1830.054941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.315449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138972; longitude = -129.954341; duration = 417; initialDepth = 1773.561885; finalDepth = 1774.315449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2595650000001 # Actual altitude: 52.2595650000001 # Commanded vehicle depth: 1774.315449 # Seafloor depth: -1826.575014 # 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 14 # Segment length 101.895404 meters # Minimum depth: 1823.561885 meters looking forward 100.000000 meters along route # Maximum depth: 1829.600153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.561885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139736; longitude = -129.953555; duration = 407; initialDepth = 1769.175649; finalDepth = 1773.561885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2595650000001 # Actual altitude: 52.2595650000001 # Commanded vehicle depth: 1773.561885 # Seafloor depth: -1824.063294 # 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 14 # Segment length 103.138474 meters # Minimum depth: 1819.175649 meters looking forward 100.000000 meters along route # Maximum depth: 1825.437448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.175649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140482; longitude = -129.952788; duration = 412; initialDepth = 1767.924704; finalDepth = 1769.175649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2617989999999 # Actual altitude: 56.2617989999999 # Commanded vehicle depth: 1769.175649 # Seafloor depth: -1825.437448 # 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 14 # Segment length 104.403120 meters # Minimum depth: 1817.924704 meters looking forward 100.000000 meters along route # Maximum depth: 1821.770043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.924704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141237; longitude = -129.952011; duration = 417; initialDepth = 1769.721257; finalDepth = 1767.924704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2617989999999 # Actual altitude: 56.2617989999999 # Commanded vehicle depth: 1767.924704 # Seafloor depth: -1821.426808 # 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 14 # Segment length 101.872392 meters # Minimum depth: 1819.721257 meters looking forward 100.000000 meters along route # Maximum depth: 1825.273438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.721257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142001; longitude = -129.951225; duration = 407; initialDepth = 1770.472256; finalDepth = 1769.721257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5021039999999 # Actual altitude: 53.5021039999999 # Commanded vehicle depth: 1769.721257 # Seafloor depth: -1820.000714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.137037 meters # Minimum depth: 1820.472256 meters looking forward 100.000000 meters along route # Maximum depth: 1822.223738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.472256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142747; longitude = -129.950458; duration = 412; initialDepth = 1770.270277; finalDepth = 1770.472256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0813920000001 # Actual altitude: 51.0813920000001 # Commanded vehicle depth: 1770.472256 # Seafloor depth: -1821.553648 # 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 104.423256 meters # Minimum depth: 1820.270277 meters looking forward 100.000000 meters along route # Maximum depth: 1823.922143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.270277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143502; longitude = -129.949681; duration = 417; initialDepth = 1772.068845; finalDepth = 1770.270277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2185069999998 # Actual altitude: 51.2185069999998 # Commanded vehicle depth: 1770.270277 # Seafloor depth: -1821.488784 # 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 14 # Segment length 101.849380 meters # Minimum depth: 1822.068845 meters looking forward 100.000000 meters along route # Maximum depth: 1826.743348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.068845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144267; longitude = -129.948895; duration = 407; initialDepth = 1766.739700; finalDepth = 1772.068845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2185069999998 # Actual altitude: 51.2185069999998 # Commanded vehicle depth: 1772.068845 # Seafloor depth: -1822.405002 # 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 14 # Segment length 103.135599 meters # Minimum depth: 1816.739700 meters looking forward 100.000000 meters along route # Maximum depth: 1826.084465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.739700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145012; longitude = -129.948128; duration = 412; initialDepth = 1765.482393; finalDepth = 1766.739700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3447649999998 # Actual altitude: 59.3447649999998 # Commanded vehicle depth: 1766.7397 # Seafloor depth: -1826.084465 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.443391 meters # Minimum depth: 1815.482393 meters looking forward 100.000000 meters along route # Maximum depth: 1830.137565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.482393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145767; longitude = -129.947351; duration = 417; initialDepth = 1778.757920; finalDepth = 1765.482393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3447649999998 # Actual altitude: 59.3447649999998 # Commanded vehicle depth: 1765.482393 # Seafloor depth: -1819.125710 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.826370 meters # Minimum depth: 1828.757920 meters looking forward 100.000000 meters along route # Maximum depth: 1836.817691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.757920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146532; longitude = -129.946565; duration = 407; initialDepth = 1785.553560; finalDepth = 1778.757920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.643317 # Actual altitude: 53.643317 # Commanded vehicle depth: 1778.75792 # Seafloor depth: -1830.573368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.134162 meters # Minimum depth: 1835.553560 meters looking forward 100.000000 meters along route # Maximum depth: 1841.119683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.553560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147277; longitude = -129.945798; duration = 412; initialDepth = 1763.716951; finalDepth = 1785.553560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8154480000001 # Actual altitude: 51.8154480000001 # Commanded vehicle depth: 1785.55356 # Seafloor depth: -1836.528023 # 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 14 # Segment length 104.463525 meters # Minimum depth: 1813.716951 meters looking forward 100.000000 meters along route # Maximum depth: 1837.342226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.716951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148032; longitude = -129.945021; duration = 417; initialDepth = 1761.882730; finalDepth = 1763.716951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.549082 # Actual altitude: 71.549082 # Commanded vehicle depth: 1763.716951 # Seafloor depth: -1835.266033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.803360 meters # Minimum depth: 1811.882730 meters looking forward 100.000000 meters along route # Maximum depth: 1817.974406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.882730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148797; longitude = -129.944235; duration = 407; initialDepth = 1768.189941; finalDepth = 1761.882730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.549082 # Actual altitude: 71.549082 # Commanded vehicle depth: 1761.88273 # Seafloor depth: -1813.003368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.132724 meters # Minimum depth: 1818.189941 meters looking forward 100.000000 meters along route # Maximum depth: 1834.533832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.189941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149542; longitude = -129.943468; duration = 412; initialDepth = 1783.818727; finalDepth = 1768.189941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1206379999999 # Actual altitude: 51.1206379999999 # Commanded vehicle depth: 1768.189941 # Seafloor depth: -1818.189941 # 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 104.483659 meters # Minimum depth: 1833.818727 meters looking forward 100.000000 meters along route # Maximum depth: 1846.237636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.818727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150297; longitude = -129.942691; duration = 417; initialDepth = 1782.954329; finalDepth = 1783.818727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1091309999999 # Actual altitude: 50.1091309999999 # Commanded vehicle depth: 1783.818727 # Seafloor depth: -1833.927858 # 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 14 # Segment length 101.780351 meters # Minimum depth: 1832.954329 meters looking forward 100.000000 meters along route # Maximum depth: 1849.194841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.954329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151062; longitude = -129.941904; duration = 407; initialDepth = 1795.834713; finalDepth = 1782.954329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2754710000002 # Actual altitude: 63.2754710000002 # Commanded vehicle depth: 1782.954329 # Seafloor depth: -1846.229800 # 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 14 # Segment length 103.131287 meters # Minimum depth: 1845.834713 meters looking forward 100.000000 meters along route # Maximum depth: 1870.302507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.834713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151807; longitude = -129.941138; duration = 412; initialDepth = 1801.764987; finalDepth = 1795.834713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2754710000002 # Actual altitude: 63.2754710000002 # Commanded vehicle depth: 1795.834713 # Seafloor depth: -1845.834713 # 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 14 # Segment length 104.503792 meters # Minimum depth: 1851.764987 meters looking forward 100.000000 meters along route # Maximum depth: 1865.732822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.764987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152563; longitude = -129.940361; duration = 418; initialDepth = 1806.221194; finalDepth = 1801.764987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5167180000001 # Actual altitude: 58.5167180000001 # Commanded vehicle depth: 1801.764987 # Seafloor depth: -1860.281705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.757343 meters # Minimum depth: 1856.221194 meters looking forward 100.000000 meters along route # Maximum depth: 1863.929953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.221194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153328; longitude = -129.939574; duration = 407; initialDepth = 1799.969933; finalDepth = 1806.221194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5167180000001 # Actual altitude: 58.5167180000001 # Commanded vehicle depth: 1806.221194 # Seafloor depth: -1857.062728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.129849 meters # Minimum depth: 1849.969933 meters looking forward 100.000000 meters along route # Maximum depth: 1860.657950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.969933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154073; longitude = -129.938808; duration = 412; initialDepth = 1797.304064; finalDepth = 1799.969933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6880169999999 # Actual altitude: 60.6880169999999 # Commanded vehicle depth: 1799.969933 # Seafloor depth: -1860.657950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.523926 meters # Minimum depth: 1847.304064 meters looking forward 100.000000 meters along route # Maximum depth: 1854.660086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.304064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154828; longitude = -129.938031; duration = 418; initialDepth = 1788.847509; finalDepth = 1797.304064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6880169999999 # Actual altitude: 60.6880169999999 # Commanded vehicle depth: 1797.304064 # Seafloor depth: -1852.877221 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.734335 meters # Minimum depth: 1838.847509 meters looking forward 100.000000 meters along route # Maximum depth: 1854.804420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.847509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155593; longitude = -129.937244; duration = 406; initialDepth = 1796.784877; finalDepth = 1788.847509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7868600000002 # Actual altitude: 65.7868600000002 # Commanded vehicle depth: 1788.847509 # Seafloor depth: -1854.634369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.128412 meters # Minimum depth: 1846.784877 meters looking forward 100.000000 meters along route # Maximum depth: 1864.120099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.784877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156338; longitude = -129.936478; duration = 412; initialDepth = 1805.440161; finalDepth = 1796.784877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7868600000002 # Actual altitude: 65.7868600000002 # Commanded vehicle depth: 1796.784877 # Seafloor depth: -1846.784877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.544057 meters # Minimum depth: 1855.440161 meters looking forward 100.000000 meters along route # Maximum depth: 1866.280770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.440161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157093; longitude = -129.935701; duration = 418; initialDepth = 1816.432356; finalDepth = 1805.440161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5592409999999 # Actual altitude: 56.5592409999999 # Commanded vehicle depth: 1805.440161 # Seafloor depth: -1861.999402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.711328 meters # Minimum depth: 1866.432356 meters looking forward 100.000000 meters along route # Maximum depth: 1876.994624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.432356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157858; longitude = -129.934914; duration = 406; initialDepth = 1820.458141; finalDepth = 1816.432356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5592409999999 # Actual altitude: 56.5592409999999 # Commanded vehicle depth: 1816.432356 # Seafloor depth: -1866.432356 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.126975 meters # Minimum depth: 1870.458141 meters looking forward 100.000000 meters along route # Maximum depth: 1875.845255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.458141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158603; longitude = -129.934148; duration = 412; initialDepth = 1803.211345; finalDepth = 1820.458141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7994309999999 # Actual altitude: 53.7994309999999 # Commanded vehicle depth: 1820.458141 # Seafloor depth: -1874.257572 # 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 14 # Segment length 104.564189 meters # Minimum depth: 1853.211345 meters looking forward 100.000000 meters along route # Maximum depth: 1876.287609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.211345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159358; longitude = -129.933371; duration = 418; initialDepth = 1801.828733; finalDepth = 1803.211345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4281590000001 # Actual altitude: 71.4281590000001 # Commanded vehicle depth: 1803.211345 # Seafloor depth: -1874.639504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.688322 meters # Minimum depth: 1851.828733 meters looking forward 100.000000 meters along route # Maximum depth: 1865.565744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.828733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160123; longitude = -129.932584; duration = 406; initialDepth = 1815.354667; finalDepth = 1801.828733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4281590000001 # Actual altitude: 71.4281590000001 # Commanded vehicle depth: 1801.828733 # Seafloor depth: -1856.167205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.125537 meters # Minimum depth: 1865.354667 meters looking forward 100.000000 meters along route # Maximum depth: 1885.940403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.354667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160868; longitude = -129.931818; duration = 412; initialDepth = 1787.144717; finalDepth = 1815.354667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3384719999999 # Actual altitude: 54.3384719999999 # Commanded vehicle depth: 1815.354667 # Seafloor depth: -1865.607030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.584321 meters # Minimum depth: 1837.144717 meters looking forward 100.000000 meters along route # Maximum depth: 1874.148879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.144717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161623; longitude = -129.931041; duration = 418; initialDepth = 1795.088507; finalDepth = 1787.144717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.0041620000002 # Actual altitude: 87.0041620000002 # Commanded vehicle depth: 1787.144717 # Seafloor depth: -1874.148879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.665316 meters # Minimum depth: 1845.088507 meters looking forward 100.000000 meters along route # Maximum depth: 1869.442911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.088507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162389; longitude = -129.930254; duration = 406; initialDepth = 1817.733065; finalDepth = 1795.088507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.0041620000002 # Actual altitude: 87.0041620000002 # Commanded vehicle depth: 1795.088507 # Seafloor depth: -1846.053545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.124100 meters # Minimum depth: 1867.733065 meters looking forward 100.000000 meters along route # Maximum depth: 1888.340294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.733065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163133; longitude = -129.929488; duration = 412; initialDepth = 1837.895873; finalDepth = 1817.733065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6980620000002 # Actual altitude: 54.6980620000002 # Commanded vehicle depth: 1817.733065 # Seafloor depth: -1872.431127 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.604452 meters # Minimum depth: 1887.895873 meters looking forward 100.000000 meters along route # Maximum depth: 1896.434988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.895873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163888; longitude = -129.928711; duration = 418; initialDepth = 1844.896377; finalDepth = 1837.895873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6980620000002 # Actual altitude: 54.6980620000002 # Commanded vehicle depth: 1837.895873 # Seafloor depth: -1887.895873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.642311 meters # Minimum depth: 1894.896377 meters looking forward 100.000000 meters along route # Maximum depth: 1901.632443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.896377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164654; longitude = -129.927923; duration = 406; initialDepth = 1838.196648; finalDepth = 1844.896377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4389719999999 # Actual altitude: 50.4389719999999 # Commanded vehicle depth: 1844.896377 # Seafloor depth: -1895.335349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.122663 meters # Minimum depth: 1888.196648 meters looking forward 100.000000 meters along route # Maximum depth: 1898.682967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.196648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165398; longitude = -129.927158; duration = 412; initialDepth = 1840.312615; finalDepth = 1838.196648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4863189999999 # Actual altitude: 60.4863189999999 # Commanded vehicle depth: 1838.196648 # Seafloor depth: -1898.682967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.624582 meters # Minimum depth: 1890.312615 meters looking forward 100.000000 meters along route # Maximum depth: 1900.656232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.312615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166153; longitude = -129.926381; duration = 418; initialDepth = 1844.975429; finalDepth = 1840.312615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4863189999999 # Actual altitude: 60.4863189999999 # Commanded vehicle depth: 1840.312615 # Seafloor depth: -1890.312615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.619307 meters # Minimum depth: 1894.975429 meters looking forward 100.000000 meters along route # Maximum depth: 1900.724743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.975429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166919; longitude = -129.925593; duration = 406; initialDepth = 1844.767314; finalDepth = 1844.975429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8890199999998 # Actual altitude: 54.8890199999998 # Commanded vehicle depth: 1844.975429 # Seafloor depth: -1899.864449 # 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 14 # Segment length 103.121226 meters # Minimum depth: 1894.767314 meters looking forward 100.000000 meters along route # Maximum depth: 1902.522034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.767314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167663; longitude = -129.924828; duration = 412; initialDepth = 1841.208651; finalDepth = 1844.767314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8890199999998 # Actual altitude: 54.8890199999998 # Commanded vehicle depth: 1844.767314 # Seafloor depth: -1896.169784 # 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 14 # Segment length 104.644711 meters # Minimum depth: 1891.208651 meters looking forward 100.000000 meters along route # Maximum depth: 1903.054050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.208651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168418; longitude = -129.924051; duration = 418; initialDepth = 1840.750990; finalDepth = 1841.208651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.018771 # Actual altitude: 61.018771 # Commanded vehicle depth: 1841.208651 # Seafloor depth: -1902.227422 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.596303 meters # Minimum depth: 1890.750990 meters looking forward 100.000000 meters along route # Maximum depth: 1893.642533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.750990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169184; longitude = -129.923263; duration = 406; initialDepth = 1842.011619; finalDepth = 1840.750990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.018771 # Actual altitude: 61.018771 # Commanded vehicle depth: 1840.75099 # Seafloor depth: -1892.507187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.119789 meters # Minimum depth: 1892.011619 meters looking forward 100.000000 meters along route # Maximum depth: 1896.321676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.011619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169928; longitude = -129.922498; duration = 412; initialDepth = 1842.056568; finalDepth = 1842.011619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7561969999999 # Actual altitude: 51.7561969999999 # Commanded vehicle depth: 1842.011619 # Seafloor depth: -1892.221039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.472338 meters # Minimum depth: 1892.056568 meters looking forward 100.000000 meters along route # Maximum depth: 1898.790697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.056568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170683; longitude = -129.921721; duration = 413; initialDepth = 1831.271695; finalDepth = 1842.056568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.3323789999999 # Actual altitude: 54.3323789999999 # Commanded vehicle depth: 1842.056568 # Seafloor depth: -1896.388947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 150.016512 meters # Minimum depth: 1881.271695 meters looking forward 100.000000 meters along route # Maximum depth: 1893.161804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.271695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171441; longitude = -129.920942; duration = 600; # abortOnTimeout = True; initialDepth = 1831.271695; finalDepth = 1831.271695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.8901090000002 # Actual altitude: 61.8901090000002 # Commanded vehicle depth: 1831.271695 # Seafloor depth: -1893.161804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 82.744894 meters # Minimum depth: 1881.271695 meters looking forward 100.000000 meters along route # Maximum depth: 1887.626607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.271695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.172227; longitude = -129.922522; duration = 330; # abortOnTimeout = True; initialDepth = 1837.716513; finalDepth = 1831.271695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8901090000002 # Actual altitude: 61.8901090000002 # Commanded vehicle depth: 1831.271695 # Seafloor depth: -1883.415680 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 103.120908 meters # Minimum depth: 1887.716513 meters looking forward 100.000000 meters along route # Maximum depth: 1890.533926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.716513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171621; longitude = -129.923145; duration = 412; initialDepth = 1835.470715; finalDepth = 1837.716513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1439850000002 # Actual altitude: 52.1439850000002 # Commanded vehicle depth: 1837.716513 # Seafloor depth: -1887.716513 # 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 12 # Segment length 105.915205 meters # Minimum depth: 1885.470715 meters looking forward 100.000000 meters along route # Maximum depth: 1889.858250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.470715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170866; longitude = -129.923922; duration = 423; initialDepth = 1835.295687; finalDepth = 1835.470715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6114170000001 # Actual altitude: 53.6114170000001 # Commanded vehicle depth: 1835.470715 # Seafloor depth: -1889.082132 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.328049 meters # Minimum depth: 1885.295687 meters looking forward 100.000000 meters along route # Maximum depth: 1890.327681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.295687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170091; longitude = -129.924720; duration = 401; initialDepth = 1839.664197; finalDepth = 1835.295687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6114170000001 # Actual altitude: 53.6114170000001 # Commanded vehicle depth: 1835.295687 # Seafloor depth: -1885.718016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.122346 meters # Minimum depth: 1889.664197 meters looking forward 100.000000 meters along route # Maximum depth: 1895.821501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.664197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169356; longitude = -129.925475; duration = 412; initialDepth = 1840.557078; finalDepth = 1839.664197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5106039999998 # Actual altitude: 50.5106039999998 # Commanded vehicle depth: 1839.664197 # Seafloor depth: -1890.174801 # 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 105.930649 meters # Minimum depth: 1890.557078 meters looking forward 100.000000 meters along route # Maximum depth: 1895.802730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.557078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168601; longitude = -129.926252; duration = 423; initialDepth = 1839.540982; finalDepth = 1840.557078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2456520000001 # Actual altitude: 55.2456520000001 # Commanded vehicle depth: 1840.557078 # Seafloor depth: -1895.802730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.315479 meters # Minimum depth: 1889.540982 meters looking forward 100.000000 meters along route # Maximum depth: 1892.750029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.540982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167825; longitude = -129.927050; duration = 401; initialDepth = 1838.547553; finalDepth = 1839.540982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2456520000001 # Actual altitude: 55.2456520000001 # Commanded vehicle depth: 1839.540982 # Seafloor depth: -1892.750029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.123782 meters # Minimum depth: 1888.547553 meters looking forward 100.000000 meters along route # Maximum depth: 1894.830784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.547553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167091; longitude = -129.927805; duration = 412; initialDepth = 1840.047750; finalDepth = 1838.547553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2090470000001 # Actual altitude: 53.2090470000001 # Commanded vehicle depth: 1838.547553 # Seafloor depth: -1888.547553 # 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 12 # Segment length 105.946095 meters # Minimum depth: 1890.047750 meters looking forward 100.000000 meters along route # Maximum depth: 1895.290315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.047750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166336; longitude = -129.928582; duration = 423; initialDepth = 1839.900765; finalDepth = 1840.047750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3878630000002 # Actual altitude: 53.3878630000002 # Commanded vehicle depth: 1840.04775 # Seafloor depth: -1893.435613 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.302908 meters # Minimum depth: 1889.900765 meters looking forward 100.000000 meters along route # Maximum depth: 1892.048373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.900765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165560; longitude = -129.929380; duration = 401; initialDepth = 1839.579333; finalDepth = 1839.900765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3878630000002 # Actual altitude: 53.3878630000002 # Commanded vehicle depth: 1839.900765 # Seafloor depth: -1890.099404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.125219 meters # Minimum depth: 1889.579333 meters looking forward 100.000000 meters along route # Maximum depth: 1891.234147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.579333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164826; longitude = -129.930135; duration = 412; initialDepth = 1841.252512; finalDepth = 1839.579333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8408010000001 # Actual altitude: 50.8408010000001 # Commanded vehicle depth: 1839.579333 # Seafloor depth: -1890.420134 # 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 105.961540 meters # Minimum depth: 1891.252512 meters looking forward 100.000000 meters along route # Maximum depth: 1893.085561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.252512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164071; longitude = -129.930912; duration = 423; initialDepth = 1841.779873; finalDepth = 1841.252512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8408010000001 # Actual altitude: 50.8408010000001 # Commanded vehicle depth: 1841.252512 # Seafloor depth: -1891.252512 # 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 100.290337 meters # Minimum depth: 1891.779873 meters looking forward 100.000000 meters along route # Maximum depth: 1894.448977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.779873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163295; longitude = -129.931710; duration = 401; initialDepth = 1843.259475; finalDepth = 1841.779873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.779873 # Seafloor depth: -1891.779873 # 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 103.126657 meters # Minimum depth: 1893.259475 meters looking forward 100.000000 meters along route # Maximum depth: 1897.255569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.259475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162560; longitude = -129.932465; duration = 412; initialDepth = 1839.953227; finalDepth = 1843.259475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.494003 # Actual altitude: 50.494003 # Commanded vehicle depth: 1843.259475 # Seafloor depth: -1893.753478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.976986 meters # Minimum depth: 1889.953227 meters looking forward 100.000000 meters along route # Maximum depth: 1893.246654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.953227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161805; longitude = -129.933242; duration = 423; initialDepth = 1839.019604; finalDepth = 1839.953227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2934270000001 # Actual altitude: 53.2934270000001 # Commanded vehicle depth: 1839.953227 # Seafloor depth: -1893.246654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.277765 meters # Minimum depth: 1889.019604 meters looking forward 100.000000 meters along route # Maximum depth: 1891.685632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.019604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161030; longitude = -129.934040; duration = 401; initialDepth = 1838.317344; finalDepth = 1839.019604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2934270000001 # Actual altitude: 53.2934270000001 # Commanded vehicle depth: 1839.019604 # Seafloor depth: -1890.818844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.128094 meters # Minimum depth: 1888.317344 meters looking forward 100.000000 meters along route # Maximum depth: 1890.425842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.317344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160295; longitude = -129.934795; duration = 412; initialDepth = 1840.308830; finalDepth = 1838.317344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7992399999998 # Actual altitude: 51.7992399999998 # Commanded vehicle depth: 1838.317344 # Seafloor depth: -1889.170808 # 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 105.992432 meters # Minimum depth: 1890.308830 meters looking forward 100.000000 meters along route # Maximum depth: 1893.792591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.308830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159540; longitude = -129.935572; duration = 423; initialDepth = 1840.382948; finalDepth = 1840.308830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.853464 # Actual altitude: 50.853464 # Commanded vehicle depth: 1840.30883 # Seafloor depth: -1890.427282 # 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 12 # Segment length 100.265194 meters # Minimum depth: 1890.382948 meters looking forward 100.000000 meters along route # Maximum depth: 1894.089150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.382948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158764; longitude = -129.936370; duration = 401; initialDepth = 1840.144265; finalDepth = 1840.382948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8267860000001 # Actual altitude: 51.8267860000001 # Commanded vehicle depth: 1840.382948 # Seafloor depth: -1892.209734 # 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 12 # Segment length 103.129532 meters # Minimum depth: 1890.144265 meters looking forward 100.000000 meters along route # Maximum depth: 1895.959258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.144265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158030; longitude = -129.937125; duration = 412; initialDepth = 1824.323608; finalDepth = 1840.144265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8267860000001 # Actual altitude: 51.8267860000001 # Commanded vehicle depth: 1840.144265 # Seafloor depth: -1891.514678 # 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 12 # Segment length 106.007879 meters # Minimum depth: 1874.323608 meters looking forward 100.000000 meters along route # Maximum depth: 1894.497720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.323608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157275; longitude = -129.937902; duration = 424; initialDepth = 1824.287533; finalDepth = 1824.323608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9669940000001 # Actual altitude: 69.9669940000001 # Commanded vehicle depth: 1824.323608 # Seafloor depth: -1894.290602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.252621 meters # Minimum depth: 1874.287533 meters looking forward 100.000000 meters along route # Maximum depth: 1894.049373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.287533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156499; longitude = -129.938700; duration = 401; initialDepth = 1842.862429; finalDepth = 1824.287533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.9669940000001 # Actual altitude: 69.9669940000001 # Commanded vehicle depth: 1824.287533 # Seafloor depth: -1874.287533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.130969 meters # Minimum depth: 1892.862429 meters looking forward 100.000000 meters along route # Maximum depth: 1899.656670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.862429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155765; longitude = -129.939455; duration = 412; initialDepth = 1837.424829; finalDepth = 1842.862429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.09636 # Actual altitude: 52.09636 # Commanded vehicle depth: 1842.862429 # Seafloor depth: -1894.958789 # 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 12 # Segment length 106.023326 meters # Minimum depth: 1887.424829 meters looking forward 100.000000 meters along route # Maximum depth: 1892.855935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.424829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155010; longitude = -129.940232; duration = 424; initialDepth = 1837.282880; finalDepth = 1837.424829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.431106 # Actual altitude: 55.431106 # Commanded vehicle depth: 1837.424829 # Seafloor depth: -1892.855935 # 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 12 # Segment length 100.240050 meters # Minimum depth: 1887.282880 meters looking forward 100.000000 meters along route # Maximum depth: 1892.821550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.282880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154234; longitude = -129.941030; duration = 400; initialDepth = 1816.966679; finalDepth = 1837.282880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.431106 # Actual altitude: 55.431106 # Commanded vehicle depth: 1837.28288 # Seafloor depth: -1889.989615 # 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 12 # Segment length 103.132406 meters # Minimum depth: 1866.966679 meters looking forward 100.000000 meters along route # Maximum depth: 1889.262138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.966679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153500; longitude = -129.941785; duration = 412; initialDepth = 1817.946486; finalDepth = 1816.966679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.2954589999999 # Actual altitude: 72.2954589999999 # Commanded vehicle depth: 1816.966679 # Seafloor depth: -1889.262138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.038774 meters # Minimum depth: 1867.946486 meters looking forward 100.000000 meters along route # Maximum depth: 1879.156308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.946486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152745; longitude = -129.942562; duration = 424; initialDepth = 1818.513835; finalDepth = 1817.946486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.2954589999999 # Actual altitude: 72.2954589999999 # Commanded vehicle depth: 1817.946486 # Seafloor depth: -1867.946486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.227477 meters # Minimum depth: 1868.513835 meters looking forward 100.000000 meters along route # Maximum depth: 1872.594005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.513835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151968; longitude = -129.943360; duration = 400; initialDepth = 1797.493845; finalDepth = 1818.513835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.513835 # Seafloor depth: -1868.513835 # 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 103.133844 meters # Minimum depth: 1847.493845 meters looking forward 100.000000 meters along route # Maximum depth: 1872.410801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.493845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151235; longitude = -129.944115; duration = 412; initialDepth = 1792.855057; finalDepth = 1797.493845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.2852350000001 # Actual altitude: 73.2852350000001 # Commanded vehicle depth: 1797.493845 # Seafloor depth: -1870.779080 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.054222 meters # Minimum depth: 1842.855057 meters looking forward 100.000000 meters along route # Maximum depth: 1851.864346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.855057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150480; longitude = -129.944892; duration = 424; initialDepth = 1791.685375; finalDepth = 1792.855057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.2852350000001 # Actual altitude: 73.2852350000001 # Commanded vehicle depth: 1792.855057 # Seafloor depth: -1847.759684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.214904 meters # Minimum depth: 1841.685375 meters looking forward 100.000000 meters along route # Maximum depth: 1850.098008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.685375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149703; longitude = -129.945690; duration = 400; initialDepth = 1789.572954; finalDepth = 1791.685375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3265180000001 # Actual altitude: 58.3265180000001 # Commanded vehicle depth: 1791.685375 # Seafloor depth: -1850.011893 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.135282 meters # Minimum depth: 1839.572954 meters looking forward 100.000000 meters along route # Maximum depth: 1844.876174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.572954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148970; longitude = -129.946445; duration = 412; initialDepth = 1792.544988; finalDepth = 1789.572954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3265180000001 # Actual altitude: 58.3265180000001 # Commanded vehicle depth: 1789.572954 # Seafloor depth: -1843.372968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.069670 meters # Minimum depth: 1842.544988 meters looking forward 100.000000 meters along route # Maximum depth: 1848.188891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.544988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148214; longitude = -129.947222; duration = 424; initialDepth = 1792.521259; finalDepth = 1792.544988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8000139999999 # Actual altitude: 53.8000139999999 # Commanded vehicle depth: 1792.544988 # Seafloor depth: -1842.577626 # 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 12 # Segment length 100.202331 meters # Minimum depth: 1842.521259 meters looking forward 100.000000 meters along route # Maximum depth: 1848.145270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.521259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147438; longitude = -129.948020; duration = 400; initialDepth = 1789.249453; finalDepth = 1792.521259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6240109999999 # Actual altitude: 55.6240109999999 # Commanded vehicle depth: 1792.521259 # Seafloor depth: -1848.145270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.136720 meters # Minimum depth: 1839.249453 meters looking forward 100.000000 meters along route # Maximum depth: 1850.993751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.249453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146704; longitude = -129.948775; duration = 412; initialDepth = 1797.965539; finalDepth = 1789.249453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6240109999999 # Actual altitude: 55.6240109999999 # Commanded vehicle depth: 1789.249453 # Seafloor depth: -1842.584823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.085119 meters # Minimum depth: 1847.965539 meters looking forward 100.000000 meters along route # Maximum depth: 1855.051988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.965539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145949; longitude = -129.949552; duration = 424; initialDepth = 1798.305175; finalDepth = 1797.965539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.33537 # Actual altitude: 53.33537 # Commanded vehicle depth: 1797.965539 # Seafloor depth: -1850.993766 # 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 12 # Segment length 100.189757 meters # Minimum depth: 1848.305175 meters looking forward 100.000000 meters along route # Maximum depth: 1859.418262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.305175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145173; longitude = -129.950351; duration = 400; initialDepth = 1809.054271; finalDepth = 1798.305175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.76387 # Actual altitude: 54.76387 # Commanded vehicle depth: 1798.305175 # Seafloor depth: -1853.069045 # 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 103.148475 meters # Minimum depth: 1859.054271 meters looking forward 100.000000 meters along route # Maximum depth: 1867.360857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.054271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144439; longitude = -129.951105; duration = 412; initialDepth = 1817.360391; finalDepth = 1809.054271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.76387 # Actual altitude: 54.76387 # Commanded vehicle depth: 1809.054271 # Seafloor depth: -1859.650078 # 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 106.090252 meters # Minimum depth: 1867.360391 meters looking forward 100.000000 meters along route # Maximum depth: 1876.677479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.360391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143684; longitude = -129.951882; duration = 424; initialDepth = 1812.562707; finalDepth = 1817.360391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5958069999999 # Actual altitude: 50.5958069999999 # Commanded vehicle depth: 1817.360391 # Seafloor depth: -1867.360391 # 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 100.177183 meters # Minimum depth: 1862.562707 meters looking forward 100.000000 meters along route # Maximum depth: 1875.209568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.562707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142907; longitude = -129.952681; duration = 400; initialDepth = 1805.901214; finalDepth = 1812.562707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6468609999999 # Actual altitude: 62.6468609999999 # Commanded vehicle depth: 1812.562707 # Seafloor depth: -1875.209568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.163884 meters # Minimum depth: 1855.901214 meters looking forward 100.000000 meters along route # Maximum depth: 1866.828393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.901214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142174; longitude = -129.953435; duration = 412; initialDepth = 1804.657832; finalDepth = 1805.901214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6468609999999 # Actual altitude: 62.6468609999999 # Commanded vehicle depth: 1805.901214 # Seafloor depth: -1866.683280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.091731 meters # Minimum depth: 1854.657832 meters looking forward 100.000000 meters along route # Maximum depth: 1859.103801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.657832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141419; longitude = -129.954212; duration = 424; initialDepth = 1807.341997; finalDepth = 1804.657832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.782066 # Actual altitude: 60.782066 # Commanded vehicle depth: 1804.657832 # Seafloor depth: -1857.340146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.164609 meters # Minimum depth: 1857.341997 meters looking forward 100.000000 meters along route # Maximum depth: 1862.415739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.341997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140642; longitude = -129.955011; duration = 400; initialDepth = 1809.142015; finalDepth = 1807.341997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6823139999999 # Actual altitude: 52.6823139999999 # Commanded vehicle depth: 1807.341997 # Seafloor depth: -1857.341997 # 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 12 # Segment length 103.179292 meters # Minimum depth: 1859.142015 meters looking forward 100.000000 meters along route # Maximum depth: 1862.322489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.142015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139909; longitude = -129.955765; duration = 412; initialDepth = 1807.220192; finalDepth = 1809.142015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3269280000002 # Actual altitude: 51.3269280000002 # Commanded vehicle depth: 1809.142015 # Seafloor depth: -1860.468943 # 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 12 # Segment length 106.093211 meters # Minimum depth: 1857.220192 meters looking forward 100.000000 meters along route # Maximum depth: 1861.340030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.220192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139154; longitude = -129.956542; duration = 424; initialDepth = 1805.240022; finalDepth = 1807.220192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.794697 # Actual altitude: 53.794697 # Commanded vehicle depth: 1807.220192 # Seafloor depth: -1861.014889 # 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 12 # Segment length 100.152034 meters # Minimum depth: 1855.240022 meters looking forward 100.000000 meters along route # Maximum depth: 1858.013141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.240022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138377; longitude = -129.957341; duration = 400; initialDepth = 1806.090284; finalDepth = 1805.240022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.794697 # Actual altitude: 53.794697 # Commanded vehicle depth: 1805.240022 # Seafloor depth: -1858.013141 # 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 12 # Segment length 103.194703 meters # Minimum depth: 1856.090284 meters looking forward 100.000000 meters along route # Maximum depth: 1862.600621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.090284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137644; longitude = -129.958095; duration = 412; initialDepth = 1796.831873; finalDepth = 1806.090284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.773119 # Actual altitude: 52.773119 # Commanded vehicle depth: 1806.090284 # Seafloor depth: -1856.420718 # 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 12 # Segment length 106.094689 meters # Minimum depth: 1846.831873 meters looking forward 100.000000 meters along route # Maximum depth: 1862.598164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.831873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136888; longitude = -129.958872; duration = 424; initialDepth = 1798.927905; finalDepth = 1796.831873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7662909999999 # Actual altitude: 65.7662909999999 # Commanded vehicle depth: 1796.831873 # Seafloor depth: -1862.598164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.139460 meters # Minimum depth: 1848.927905 meters looking forward 100.000000 meters along route # Maximum depth: 1854.719857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.927905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136112; longitude = -129.959671; duration = 400; initialDepth = 1782.051412; finalDepth = 1798.927905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7662909999999 # Actual altitude: 65.7662909999999 # Commanded vehicle depth: 1798.927905 # Seafloor depth: -1848.927905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 103.210112 meters # Minimum depth: 1832.051412 meters looking forward 100.000000 meters along route # Maximum depth: 1851.039852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.051412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135379; longitude = -129.960425; duration = 412; initialDepth = 1769.843709; finalDepth = 1782.051412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.9884400000001 # Actual altitude: 68.9884400000001 # Commanded vehicle depth: 1782.051412 # Seafloor depth: -1851.039852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.096169 meters # Minimum depth: 1819.843709 meters looking forward 100.000000 meters along route # Maximum depth: 1832.027356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.843709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134623; longitude = -129.961202; duration = 424; initialDepth = 1768.266068; finalDepth = 1769.843709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.9884400000001 # Actual altitude: 68.9884400000001 # Commanded vehicle depth: 1769.843709 # Seafloor depth: -1832.027356 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.126885 meters # Minimum depth: 1818.266068 meters looking forward 100.000000 meters along route # Maximum depth: 1821.827016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.266068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133846; longitude = -129.962001; duration = 400; initialDepth = 1770.414071; finalDepth = 1768.266068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1836470000001 # Actual altitude: 62.1836470000001 # Commanded vehicle depth: 1768.266068 # Seafloor depth: -1821.557509 # 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 12 # Segment length 103.225523 meters # Minimum depth: 1820.414071 meters looking forward 100.000000 meters along route # Maximum depth: 1827.434547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.414071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133113; longitude = -129.962755; duration = 412; initialDepth = 1768.805779; finalDepth = 1770.414071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2914410000001 # Actual altitude: 53.2914410000001 # Commanded vehicle depth: 1770.414071 # Seafloor depth: -1820.414071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.371124 meters # Minimum depth: 1818.805779 meters looking forward 100.000000 meters along route # Maximum depth: 1825.858251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.805779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132358; longitude = -129.963532; duration = 401; initialDepth = 1775.417236; finalDepth = 1768.805779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.717725 # Actual altitude: 53.717725 # Commanded vehicle depth: 1768.805779 # Seafloor depth: -1822.523504 # 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; } # ####################################################### # # 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 150.023989 meters # Minimum depth: 1825.417236 meters looking forward 100.000000 meters along route # Maximum depth: 1863.088947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.417236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131623; longitude = -129.964288; duration = 600; # abortOnTimeout = True; initialDepth = 1807.278980; finalDepth = 1775.417236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.717725 # Actual altitude: 53.717725 # Commanded vehicle depth: 1775.417236 # Seafloor depth: -1825.417236 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 78.208511 meters # Minimum depth: 1857.278980 meters looking forward 100.000000 meters along route # Maximum depth: 1863.851632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.278980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132408; longitude = -129.965868; duration = 312; # abortOnTimeout = True; initialDepth = 1798.627579; finalDepth = 1807.278980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.802899 # Actual altitude: 55.802899 # Commanded vehicle depth: 1807.27898 # Seafloor depth: -1863.081879 # 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 10 # Segment length 103.146621 meters # Minimum depth: 1848.627579 meters looking forward 100.000000 meters along route # Maximum depth: 1857.749590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.627579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132981; longitude = -129.965279; duration = 412; initialDepth = 1799.553520; finalDepth = 1798.627579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1220109999999 # Actual altitude: 59.1220109999999 # Commanded vehicle depth: 1798.627579 # Seafloor depth: -1857.749590 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.543053 meters # Minimum depth: 1849.553520 meters looking forward 100.000000 meters along route # Maximum depth: 1862.801094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.553520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133736; longitude = -129.964502; duration = 414; initialDepth = 1788.278193; finalDepth = 1799.553520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1220109999999 # Actual altitude: 59.1220109999999 # Commanded vehicle depth: 1799.55352 # Seafloor depth: -1851.777849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.748751 meters # Minimum depth: 1838.278193 meters looking forward 100.000000 meters along route # Maximum depth: 1862.854162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.278193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134494; longitude = -129.963723; duration = 410; initialDepth = 1789.505354; finalDepth = 1788.278193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.575969 # Actual altitude: 74.575969 # Commanded vehicle depth: 1788.278193 # Seafloor depth: -1862.854162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.145183 meters # Minimum depth: 1839.505354 meters looking forward 100.000000 meters along route # Maximum depth: 1855.441982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.505354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135246; longitude = -129.962949; duration = 412; initialDepth = 1803.079356; finalDepth = 1789.505354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.575969 # Actual altitude: 74.575969 # Commanded vehicle depth: 1789.505354 # Seafloor depth: -1841.117210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.548172 meters # Minimum depth: 1853.079356 meters looking forward 100.000000 meters along route # Maximum depth: 1857.727966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.079356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136001; longitude = -129.962172; duration = 414; initialDepth = 1801.678931; finalDepth = 1803.079356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.987048 # Actual altitude: 51.987048 # Commanded vehicle depth: 1803.079356 # Seafloor depth: -1855.066404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.740756 meters # Minimum depth: 1851.678931 meters looking forward 100.000000 meters along route # Maximum depth: 1857.006363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.678931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136759; longitude = -129.961393; duration = 410; initialDepth = 1804.890897; finalDepth = 1801.678931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.987048 # Actual altitude: 51.987048 # Commanded vehicle depth: 1801.678931 # Seafloor depth: -1853.012280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.143745 meters # Minimum depth: 1854.890897 meters looking forward 100.000000 meters along route # Maximum depth: 1868.564098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.890897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137511; longitude = -129.960619; duration = 412; initialDepth = 1807.815143; finalDepth = 1804.890897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.333349 # Actual altitude: 51.333349 # Commanded vehicle depth: 1804.890897 # Seafloor depth: -1854.890897 # 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 10 # Segment length 103.553290 meters # Minimum depth: 1857.815143 meters looking forward 100.000000 meters along route # Maximum depth: 1865.513345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.815143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138266; longitude = -129.959842; duration = 414; initialDepth = 1807.654225; finalDepth = 1807.815143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.973344 # Actual altitude: 56.973344 # Commanded vehicle depth: 1807.815143 # Seafloor depth: -1864.788487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.732761 meters # Minimum depth: 1857.654225 meters looking forward 100.000000 meters along route # Maximum depth: 1872.309027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.654225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139024; longitude = -129.959063; duration = 410; initialDepth = 1819.205242; finalDepth = 1807.654225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.973344 # Actual altitude: 56.973344 # Commanded vehicle depth: 1807.654225 # Seafloor depth: -1857.718571 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.142307 meters # Minimum depth: 1869.205242 meters looking forward 100.000000 meters along route # Maximum depth: 1877.906120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.205242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139776; longitude = -129.958289; duration = 412; initialDepth = 1827.617250; finalDepth = 1819.205242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4013399999999 # Actual altitude: 54.4013399999999 # Commanded vehicle depth: 1819.205242 # Seafloor depth: -1873.606582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.558408 meters # Minimum depth: 1877.617250 meters looking forward 100.000000 meters along route # Maximum depth: 1884.154926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.617250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140531; longitude = -129.957512; duration = 414; initialDepth = 1829.730016; finalDepth = 1827.617250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4013399999999 # Actual altitude: 54.4013399999999 # Commanded vehicle depth: 1827.61725 # Seafloor depth: -1877.617250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.724767 meters # Minimum depth: 1879.730016 meters looking forward 100.000000 meters along route # Maximum depth: 1883.049899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.730016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141289; longitude = -129.956733; duration = 410; initialDepth = 1828.455581; finalDepth = 1829.730016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1829.730016 # Seafloor depth: -1879.730016 # 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 103.140869 meters # Minimum depth: 1878.455581 meters looking forward 100.000000 meters along route # Maximum depth: 1881.735632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.455581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142041; longitude = -129.955959; duration = 412; initialDepth = 1828.536417; finalDepth = 1828.455581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2664200000002 # Actual altitude: 52.2664200000002 # Commanded vehicle depth: 1828.455581 # Seafloor depth: -1880.722001 # 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 10 # Segment length 103.563527 meters # Minimum depth: 1878.536417 meters looking forward 100.000000 meters along route # Maximum depth: 1882.214854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.536417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142796; longitude = -129.955183; duration = 414; initialDepth = 1825.017320; finalDepth = 1828.536417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2664200000002 # Actual altitude: 52.2664200000002 # Commanded vehicle depth: 1828.536417 # Seafloor depth: -1878.536417 # 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 10 # Segment length 102.716773 meters # Minimum depth: 1875.017320 meters looking forward 100.000000 meters along route # Maximum depth: 1881.069031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.017320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143555; longitude = -129.954403; duration = 410; initialDepth = 1824.453153; finalDepth = 1825.017320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.378862 # Actual altitude: 54.378862 # Commanded vehicle depth: 1825.01732 # Seafloor depth: -1879.396182 # 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 10 # Segment length 103.139430 meters # Minimum depth: 1874.453153 meters looking forward 100.000000 meters along route # Maximum depth: 1879.667420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.453153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144307; longitude = -129.953629; duration = 412; initialDepth = 1811.561275; finalDepth = 1824.453153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.378862 # Actual altitude: 54.378862 # Commanded vehicle depth: 1824.453153 # Seafloor depth: -1874.916869 # 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 10 # Segment length 103.568645 meters # Minimum depth: 1861.561275 meters looking forward 100.000000 meters along route # Maximum depth: 1876.221996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.561275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145062; longitude = -129.952853; duration = 414; initialDepth = 1803.096917; finalDepth = 1811.561275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.856397 # Actual altitude: 62.856397 # Commanded vehicle depth: 1811.561275 # Seafloor depth: -1874.417672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.708779 meters # Minimum depth: 1853.096917 meters looking forward 100.000000 meters along route # Maximum depth: 1861.585519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.096917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145820; longitude = -129.952073; duration = 410; initialDepth = 1809.992150; finalDepth = 1803.096917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.856397 # Actual altitude: 62.856397 # Commanded vehicle depth: 1803.096917 # Seafloor depth: -1861.585519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.137993 meters # Minimum depth: 1859.992150 meters looking forward 100.000000 meters along route # Maximum depth: 1877.811025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.992150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146572; longitude = -129.951299; duration = 412; initialDepth = 1803.291557; finalDepth = 1809.992150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4886019999999 # Actual altitude: 58.4886019999999 # Commanded vehicle depth: 1809.99215 # Seafloor depth: -1859.992150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.573762 meters # Minimum depth: 1853.291557 meters looking forward 100.000000 meters along route # Maximum depth: 1875.651138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.291557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147327; longitude = -129.950523; duration = 414; initialDepth = 1787.476757; finalDepth = 1803.291557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.3595809999999 # Actual altitude: 72.3595809999999 # Commanded vehicle depth: 1803.291557 # Seafloor depth: -1875.651138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.700786 meters # Minimum depth: 1837.476757 meters looking forward 100.000000 meters along route # Maximum depth: 1858.339788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.476757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148085; longitude = -129.949743; duration = 410; initialDepth = 1778.727718; finalDepth = 1787.476757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.3595809999999 # Actual altitude: 72.3595809999999 # Commanded vehicle depth: 1787.476757 # Seafloor depth: -1858.339788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.136555 meters # Minimum depth: 1828.727718 meters looking forward 100.000000 meters along route # Maximum depth: 1836.753155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.727718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148837; longitude = -129.948969; duration = 412; initialDepth = 1780.626687; finalDepth = 1778.727718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8630310000001 # Actual altitude: 70.8630310000001 # Commanded vehicle depth: 1778.727718 # Seafloor depth: -1836.280899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.578880 meters # Minimum depth: 1830.626687 meters looking forward 100.000000 meters along route # Maximum depth: 1836.208881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.626687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149592; longitude = -129.948193; duration = 414; initialDepth = 1772.806281; finalDepth = 1780.626687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.553181 # Actual altitude: 57.553181 # Commanded vehicle depth: 1780.626687 # Seafloor depth: -1834.032258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.692792 meters # Minimum depth: 1822.806281 meters looking forward 100.000000 meters along route # Maximum depth: 1837.690732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.806281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150350; longitude = -129.947413; duration = 410; initialDepth = 1786.273366; finalDepth = 1772.806281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5766840000001 # Actual altitude: 57.5766840000001 # Commanded vehicle depth: 1772.806281 # Seafloor depth: -1830.382965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.135117 meters # Minimum depth: 1836.273366 meters looking forward 100.000000 meters along route # Maximum depth: 1878.839508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.273366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151102; longitude = -129.946639; duration = 412; initialDepth = 1823.811478; finalDepth = 1786.273366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5766840000001 # Actual altitude: 57.5766840000001 # Commanded vehicle depth: 1786.273366 # Seafloor depth: -1837.761114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.583998 meters # Minimum depth: 1878.845689 meters looking forward 100.000000 meters along route # Maximum depth: 1886.673317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.811478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151857; longitude = -129.945863; duration = 414; initialDepth = 1834.508994; finalDepth = 1823.811478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0816479999023 # Actual altitude: 55.0816479999023 # Commanded vehicle depth: 1823.8114780001 # Seafloor depth: -1878.893126 # 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 10 # Segment length 102.684799 meters # Minimum depth: 1884.508994 meters looking forward 100.000000 meters along route # Maximum depth: 1889.093769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.508994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152616; longitude = -129.945083; duration = 410; initialDepth = 1829.903366; finalDepth = 1834.508994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0816479999023 # Actual altitude: 55.0816479999023 # Commanded vehicle depth: 1834.508994 # Seafloor depth: -1884.508994 # 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 10 # Segment length 103.133680 meters # Minimum depth: 1879.903366 meters looking forward 100.000000 meters along route # Maximum depth: 1889.369595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.903366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153367; longitude = -129.944309; duration = 412; initialDepth = 1827.745818; finalDepth = 1829.903366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1584829999999 # Actual altitude: 59.1584829999999 # Commanded vehicle depth: 1829.903366 # Seafloor depth: -1889.061849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.589116 meters # Minimum depth: 1877.745818 meters looking forward 100.000000 meters along route # Maximum depth: 1895.264473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.745818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154123; longitude = -129.943533; duration = 414; initialDepth = 1839.550867; finalDepth = 1827.745818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1584829999999 # Actual altitude: 59.1584829999999 # Commanded vehicle depth: 1827.745818 # Seafloor depth: -1883.391044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.676805 meters # Minimum depth: 1889.550867 meters looking forward 100.000000 meters along route # Maximum depth: 1897.767861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.550867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154881; longitude = -129.942752; duration = 410; initialDepth = 1837.023162; finalDepth = 1839.550867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6452259999999 # Actual altitude: 55.6452259999999 # Commanded vehicle depth: 1839.550867 # Seafloor depth: -1895.093534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.132243 meters # Minimum depth: 1887.023162 meters looking forward 100.000000 meters along route # Maximum depth: 1891.426956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.023162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155633; longitude = -129.941979; duration = 412; initialDepth = 1840.020709; finalDepth = 1837.023162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5426670000002 # Actual altitude: 55.5426670000002 # Commanded vehicle depth: 1837.023162 # Seafloor depth: -1889.546908 # 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 103.594233 meters # Minimum depth: 1890.020709 meters looking forward 100.000000 meters along route # Maximum depth: 1894.333192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.020709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156388; longitude = -129.941203; duration = 414; initialDepth = 1841.977982; finalDepth = 1840.020709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5237460000001 # Actual altitude: 52.5237460000001 # Commanded vehicle depth: 1840.020709 # Seafloor depth: -1890.022906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.668813 meters # Minimum depth: 1891.977982 meters looking forward 100.000000 meters along route # Maximum depth: 1894.819774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.977982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157146; longitude = -129.940422; duration = 410; initialDepth = 1834.218918; finalDepth = 1841.977982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4120499999999 # Actual altitude: 52.4120499999999 # Commanded vehicle depth: 1841.977982 # Seafloor depth: -1894.390032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.130805 meters # Minimum depth: 1884.218918 meters looking forward 100.000000 meters along route # Maximum depth: 1892.339920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.218918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157898; longitude = -129.939649; duration = 412; initialDepth = 1819.583703; finalDepth = 1834.218918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1210019999999 # Actual altitude: 58.1210019999999 # Commanded vehicle depth: 1834.218918 # Seafloor depth: -1892.339920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.599351 meters # Minimum depth: 1869.583703 meters looking forward 100.000000 meters along route # Maximum depth: 1884.030675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.583703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158653; longitude = -129.938873; duration = 414; initialDepth = 1820.735476; finalDepth = 1819.583703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.446972 # Actual altitude: 64.446972 # Commanded vehicle depth: 1819.583703 # Seafloor depth: -1884.030675 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.660820 meters # Minimum depth: 1870.735476 meters looking forward 100.000000 meters along route # Maximum depth: 1873.115077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.735476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159411; longitude = -129.938092; duration = 410; initialDepth = 1824.718209; finalDepth = 1820.735476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.446972 # Actual altitude: 64.446972 # Commanded vehicle depth: 1820.735476 # Seafloor depth: -1870.899568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.129367 meters # Minimum depth: 1874.718209 meters looking forward 100.000000 meters along route # Maximum depth: 1889.809857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.718209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160163; longitude = -129.937319; duration = 412; initialDepth = 1838.058252; finalDepth = 1824.718209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.164092 # Actual altitude: 50.164092 # Commanded vehicle depth: 1824.718209 # Seafloor depth: -1874.718209 # 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 10 # Segment length 103.604469 meters # Minimum depth: 1888.058252 meters looking forward 100.000000 meters along route # Maximum depth: 1889.806837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.058252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160918; longitude = -129.936543; duration = 414; initialDepth = 1834.579062; finalDepth = 1838.058252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.606632 # Actual altitude: 51.606632 # Commanded vehicle depth: 1838.058252 # Seafloor depth: -1889.664884 # 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 10 # Segment length 102.652828 meters # Minimum depth: 1884.579062 meters looking forward 100.000000 meters along route # Maximum depth: 1889.002125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.579062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161677; longitude = -129.935762; duration = 410; initialDepth = 1833.987829; finalDepth = 1834.579062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.423063 # Actual altitude: 54.423063 # Commanded vehicle depth: 1834.579062 # Seafloor depth: -1889.002125 # 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 10 # Segment length 103.127930 meters # Minimum depth: 1883.987829 meters looking forward 100.000000 meters along route # Maximum depth: 1891.368417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.987829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162428; longitude = -129.934989; duration = 412; initialDepth = 1832.381462; finalDepth = 1833.987829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.423063 # Actual altitude: 54.423063 # Commanded vehicle depth: 1833.987829 # Seafloor depth: -1887.324575 # 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 10 # Segment length 103.609585 meters # Minimum depth: 1882.381462 meters looking forward 100.000000 meters along route # Maximum depth: 1889.104020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.381462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163183; longitude = -129.934213; duration = 414; initialDepth = 1838.758972; finalDepth = 1832.381462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3367460000002 # Actual altitude: 53.3367460000002 # Commanded vehicle depth: 1832.381462 # Seafloor depth: -1883.886923 # 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 10 # Segment length 102.644837 meters # Minimum depth: 1888.758972 meters looking forward 100.000000 meters along route # Maximum depth: 1892.888709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.758972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163942; longitude = -129.933432; duration = 410; initialDepth = 1840.298307; finalDepth = 1838.758972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.505461 # Actual altitude: 51.505461 # Commanded vehicle depth: 1838.758972 # Seafloor depth: -1889.150112 # 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 10 # Segment length 103.126492 meters # Minimum depth: 1890.298307 meters looking forward 100.000000 meters along route # Maximum depth: 1891.871109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.298307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164694; longitude = -129.932659; duration = 412; initialDepth = 1841.115723; finalDepth = 1840.298307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.39114 # Actual altitude: 50.39114 # Commanded vehicle depth: 1840.298307 # Seafloor depth: -1890.298307 # 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 10 # Segment length 103.614703 meters # Minimum depth: 1891.115723 meters looking forward 100.000000 meters along route # Maximum depth: 1895.586362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.115723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165449; longitude = -129.931883; duration = 414; initialDepth = 1845.658272; finalDepth = 1841.115723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1841.115723 # Seafloor depth: -1891.115723 # 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 102.636845 meters # Minimum depth: 1895.658272 meters looking forward 100.000000 meters along route # Maximum depth: 1897.961161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.658272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166207; longitude = -129.931102; duration = 410; initialDepth = 1844.492791; finalDepth = 1845.658272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1845.658272 # Seafloor depth: -1895.658272 # 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 103.125055 meters # Minimum depth: 1894.492791 meters looking forward 100.000000 meters along route # Maximum depth: 1899.640202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.492791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166959; longitude = -129.930329; duration = 412; initialDepth = 1849.121931; finalDepth = 1844.492791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9577080000001 # Actual altitude: 50.9577080000001 # Commanded vehicle depth: 1844.492791 # Seafloor depth: -1895.450499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.619820 meters # Minimum depth: 1899.121931 meters looking forward 100.000000 meters along route # Maximum depth: 1901.331737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.121931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167714; longitude = -129.929553; duration = 414; initialDepth = 1845.832938; finalDepth = 1849.121931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9577080000001 # Actual altitude: 50.9577080000001 # Commanded vehicle depth: 1849.121931 # Seafloor depth: -1899.201840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.628853 meters # Minimum depth: 1895.832938 meters looking forward 100.000000 meters along route # Maximum depth: 1899.346821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.832938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168473; longitude = -129.928772; duration = 410; initialDepth = 1844.398599; finalDepth = 1845.832938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5138830000001 # Actual altitude: 53.5138830000001 # Commanded vehicle depth: 1845.832938 # Seafloor depth: -1899.346821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.123619 meters # Minimum depth: 1894.398599 meters looking forward 100.000000 meters along route # Maximum depth: 1899.188013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.398599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169224; longitude = -129.927999; duration = 412; initialDepth = 1840.782603; finalDepth = 1844.398599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5138830000001 # Actual altitude: 53.5138830000001 # Commanded vehicle depth: 1844.398599 # Seafloor depth: -1896.619028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.624936 meters # Minimum depth: 1890.782603 meters looking forward 100.000000 meters along route # Maximum depth: 1897.619074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.782603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169979; longitude = -129.927223; duration = 414; initialDepth = 1841.246028; finalDepth = 1840.782603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1152699999998 # Actual altitude: 53.1152699999998 # Commanded vehicle depth: 1840.782603 # Seafloor depth: -1893.897873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.620863 meters # Minimum depth: 1891.246028 meters looking forward 100.000000 meters along route # Maximum depth: 1897.980688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.246028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170738; longitude = -129.926442; duration = 410; initialDepth = 1836.162776; finalDepth = 1841.246028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.295241 # Actual altitude: 56.295241 # Commanded vehicle depth: 1841.246028 # Seafloor depth: -1897.541269 # 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 10 # Segment length 103.122181 meters # Minimum depth: 1886.162776 meters looking forward 100.000000 meters along route # Maximum depth: 1891.972824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.162776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171489; longitude = -129.925669; duration = 412; initialDepth = 1832.339838; finalDepth = 1836.162776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.295241 # Actual altitude: 56.295241 # Commanded vehicle depth: 1836.162776 # Seafloor depth: -1891.176219 # 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 10 # Segment length 104.851612 meters # Minimum depth: 1882.339838 meters looking forward 100.000000 meters along route # Maximum depth: 1886.346600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.339838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.172244; longitude = -129.924893; duration = 419; initialDepth = 1832.112915; finalDepth = 1832.339838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.0134430000001 # Actual altitude: 55.0134430000001 # Commanded vehicle depth: 1832.339838 # Seafloor depth: -1886.346600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 149.949101 meters # Minimum depth: 1882.112915 meters looking forward 100.000000 meters along route # Maximum depth: 1895.852802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.112915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.173012; longitude = -129.924103; duration = 599; # abortOnTimeout = True; initialDepth = 1841.330657; finalDepth = 1832.112915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.006762 # Actual altitude: 54.006762 # Commanded vehicle depth: 1832.112915 # Seafloor depth: -1882.112915 # 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; } # ####################################################### # # 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 110.076918 meters # Minimum depth: 1891.330657 meters looking forward 100.000000 meters along route # Maximum depth: 1896.438755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.330657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.173797; longitude = -129.925683; duration = 440; # abortOnTimeout = True; initialDepth = 1840.851587; finalDepth = 1841.330657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.899568 # Actual altitude: 54.899568 # Commanded vehicle depth: 1841.330657 # Seafloor depth: -1896.230225 # 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 104.250491 meters # Minimum depth: 1890.851587 meters looking forward 100.000000 meters along route # Maximum depth: 1897.960844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.851587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.172990; longitude = -129.926511; duration = 417; initialDepth = 1845.287007; finalDepth = 1840.851587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.899568 # Actual altitude: 54.899568 # Commanded vehicle depth: 1840.851587 # Seafloor depth: -1891.359903 # 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 102.320417 meters # Minimum depth: 1895.287007 meters looking forward 100.000000 meters along route # Maximum depth: 1900.971464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.287007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.172226; longitude = -129.927295; duration = 409; initialDepth = 1840.374809; finalDepth = 1845.287007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6888250000002 # Actual altitude: 52.6888250000002 # Commanded vehicle depth: 1845.287007 # Seafloor depth: -1897.975832 # 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 103.286173 meters # Minimum depth: 1890.374809 meters looking forward 100.000000 meters along route # Maximum depth: 1895.468877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.374809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171477; longitude = -129.928064; duration = 413; initialDepth = 1840.127257; finalDepth = 1840.374809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.825141 # Actual altitude: 54.825141 # Commanded vehicle depth: 1840.374809 # Seafloor depth: -1895.199950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.518538 meters # Minimum depth: 1890.127257 meters looking forward 100.000000 meters along route # Maximum depth: 1893.139717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.127257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170720; longitude = -129.928841; duration = 414; initialDepth = 1843.143525; finalDepth = 1840.127257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.825141 # Actual altitude: 54.825141 # Commanded vehicle depth: 1840.127257 # Seafloor depth: -1891.022381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.986747 meters # Minimum depth: 1893.143525 meters looking forward 100.000000 meters along route # Maximum depth: 1906.634986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.143525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169961; longitude = -129.929619; duration = 423; initialDepth = 1849.164271; finalDepth = 1843.143525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8951239999999 # Actual altitude: 50.8951239999999 # Commanded vehicle depth: 1843.143525 # Seafloor depth: -1893.143525 # 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 100.356110 meters # Minimum depth: 1899.164271 meters looking forward 100.000000 meters along route # Maximum depth: 1910.446731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.164271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169184; longitude = -129.930416; duration = 401; initialDepth = 1843.206076; finalDepth = 1849.164271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9537819999998 # Actual altitude: 57.9537819999998 # Commanded vehicle depth: 1849.164271 # Seafloor depth: -1907.118053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.288091 meters # Minimum depth: 1893.206076 meters looking forward 100.000000 meters along route # Maximum depth: 1899.441190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.206076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168449; longitude = -129.931171; duration = 413; initialDepth = 1835.216033; finalDepth = 1843.206076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9537819999998 # Actual altitude: 57.9537819999998 # Commanded vehicle depth: 1843.206076 # Seafloor depth: -1898.753589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.486694 meters # Minimum depth: 1885.216033 meters looking forward 100.000000 meters along route # Maximum depth: 1893.828171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.216033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167692; longitude = -129.931947; duration = 421; initialDepth = 1835.060149; finalDepth = 1835.216033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6121380000002 # Actual altitude: 58.6121380000002 # Commanded vehicle depth: 1835.216033 # Seafloor depth: -1893.828171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.090925 meters # Minimum depth: 1885.060149 meters looking forward 100.000000 meters along route # Maximum depth: 1888.908739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.060149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166919; longitude = -129.932741; duration = 404; initialDepth = 1836.180966; finalDepth = 1835.060149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6121380000002 # Actual altitude: 58.6121380000002 # Commanded vehicle depth: 1835.060149 # Seafloor depth: -1886.124182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.289529 meters # Minimum depth: 1886.180966 meters looking forward 100.000000 meters along route # Maximum depth: 1887.396450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.180966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166178; longitude = -129.933501; duration = 413; initialDepth = 1830.763510; finalDepth = 1836.180966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0640330000001 # Actual altitude: 51.0640330000001 # Commanded vehicle depth: 1836.180966 # Seafloor depth: -1886.660835 # 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 8 # Segment length 104.754735 meters # Minimum depth: 1880.763510 meters looking forward 100.000000 meters along route # Maximum depth: 1887.402933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.763510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165422; longitude = -129.934277; duration = 419; initialDepth = 1820.085088; finalDepth = 1830.763510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.16608 # Actual altitude: 56.16608 # Commanded vehicle depth: 1830.76351 # Seafloor depth: -1886.929590 # 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 8 # Segment length 101.825761 meters # Minimum depth: 1870.085088 meters looking forward 100.000000 meters along route # Maximum depth: 1880.881226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.085088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164654; longitude = -129.935065; duration = 407; initialDepth = 1820.971971; finalDepth = 1820.085088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4571080000001 # Actual altitude: 60.4571080000001 # Commanded vehicle depth: 1820.085088 # Seafloor depth: -1880.542196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.290968 meters # Minimum depth: 1870.971971 meters looking forward 100.000000 meters along route # Maximum depth: 1882.477969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.971971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163908; longitude = -129.935831; duration = 413; initialDepth = 1825.746053; finalDepth = 1820.971971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4571080000001 # Actual altitude: 60.4571080000001 # Commanded vehicle depth: 1820.971971 # Seafloor depth: -1870.971971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.022755 meters # Minimum depth: 1875.746053 meters looking forward 100.000000 meters along route # Maximum depth: 1882.939013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.746053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163151; longitude = -129.936607; duration = 416; initialDepth = 1828.356029; finalDepth = 1825.746053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2495979999999 # Actual altitude: 56.2495979999999 # Commanded vehicle depth: 1825.746053 # Seafloor depth: -1881.995651 # 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 8 # Segment length 102.560618 meters # Minimum depth: 1878.356029 meters looking forward 100.000000 meters along route # Maximum depth: 1882.703864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.356029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162389; longitude = -129.937390; duration = 410; initialDepth = 1830.369635; finalDepth = 1828.356029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2495979999999 # Actual altitude: 56.2495979999999 # Commanded vehicle depth: 1828.356029 # Seafloor depth: -1880.090098 # 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 8 # Segment length 103.292406 meters # Minimum depth: 1880.369635 meters looking forward 100.000000 meters along route # Maximum depth: 1883.851906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.369635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161637; longitude = -129.938161; duration = 413; initialDepth = 1828.948918; finalDepth = 1830.369635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7340689999999 # Actual altitude: 51.7340689999999 # Commanded vehicle depth: 1830.369635 # Seafloor depth: -1881.289449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.292885 meters # Minimum depth: 1878.948918 meters looking forward 100.000000 meters along route # Maximum depth: 1882.700435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.948918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160880; longitude = -129.938937; duration = 413; initialDepth = 1826.946376; finalDepth = 1828.948918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1648539999999 # Actual altitude: 52.1648539999999 # Commanded vehicle depth: 1828.948918 # Seafloor depth: -1881.113772 # 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 8 # Segment length 105.991012 meters # Minimum depth: 1876.946376 meters looking forward 100.000000 meters along route # Maximum depth: 1884.404778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.946376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160123; longitude = -129.939714; duration = 423; initialDepth = 1833.499925; finalDepth = 1826.946376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1648539999999 # Actual altitude: 52.1648539999999 # Commanded vehicle depth: 1826.946376 # Seafloor depth: -1879.056838 # 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 8 # Segment length 100.596198 meters # Minimum depth: 1883.499925 meters looking forward 100.000000 meters along route # Maximum depth: 1887.909158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.499925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159347; longitude = -129.940511; duration = 402; initialDepth = 1830.387462; finalDepth = 1833.499925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1104619999999 # Actual altitude: 52.1104619999999 # Commanded vehicle depth: 1833.499925 # Seafloor depth: -1883.499925 # 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 8 # Segment length 103.294324 meters # Minimum depth: 1880.387462 meters looking forward 100.000000 meters along route # Maximum depth: 1888.840857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.387462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158610; longitude = -129.941267; duration = 413; initialDepth = 1823.468952; finalDepth = 1830.387462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7167100000001 # Actual altitude: 55.7167100000001 # Commanded vehicle depth: 1830.387462 # Seafloor depth: -1886.104172 # 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 8 # Segment length 105.259025 meters # Minimum depth: 1873.468952 meters looking forward 100.000000 meters along route # Maximum depth: 1888.747556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.468952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157853; longitude = -129.942044; duration = 421; initialDepth = 1821.014557; finalDepth = 1823.468952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2786040000001 # Actual altitude: 65.2786040000001 # Commanded vehicle depth: 1823.468952 # Seafloor depth: -1888.747556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.331061 meters # Minimum depth: 1871.014557 meters looking forward 100.000000 meters along route # Maximum depth: 1877.517296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.014557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157081; longitude = -129.942835; duration = 405; initialDepth = 1817.743431; finalDepth = 1821.014557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2786040000001 # Actual altitude: 65.2786040000001 # Commanded vehicle depth: 1821.014557 # Seafloor depth: -1873.148130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.295763 meters # Minimum depth: 1867.743431 meters looking forward 100.000000 meters along route # Maximum depth: 1877.521226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.743431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156339; longitude = -129.943597; duration = 413; initialDepth = 1818.888626; finalDepth = 1817.743431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.777795 # Actual altitude: 59.777795 # Commanded vehicle depth: 1817.743431 # Seafloor depth: -1877.521226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.527019 meters # Minimum depth: 1868.888626 meters looking forward 100.000000 meters along route # Maximum depth: 1876.666738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.888626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155582; longitude = -129.944374; duration = 418; initialDepth = 1819.137810; finalDepth = 1818.888626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.777795 # Actual altitude: 59.777795 # Commanded vehicle depth: 1818.888626 # Seafloor depth: -1868.888626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.065945 meters # Minimum depth: 1869.137810 meters looking forward 100.000000 meters along route # Maximum depth: 1878.037088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.137810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154816; longitude = -129.945160; duration = 408; initialDepth = 1828.091099; finalDepth = 1819.137810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2406559999999 # Actual altitude: 56.2406559999999 # Commanded vehicle depth: 1819.13781 # Seafloor depth: -1875.378466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.297201 meters # Minimum depth: 1878.091099 meters looking forward 100.000000 meters along route # Maximum depth: 1882.248205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.091099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154068; longitude = -129.945927; duration = 413; initialDepth = 1795.995302; finalDepth = 1828.091099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2406559999999 # Actual altitude: 56.2406559999999 # Commanded vehicle depth: 1828.091099 # Seafloor depth: -1878.091099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.794993 meters # Minimum depth: 1845.995302 meters looking forward 100.000000 meters along route # Maximum depth: 1878.728035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.995302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153311; longitude = -129.946704; duration = 415; initialDepth = 1768.352182; finalDepth = 1795.995302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7309539999999 # Actual altitude: 82.7309539999999 # Commanded vehicle depth: 1795.995302 # Seafloor depth: -1878.726256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.998065 meters # Minimum depth: 1818.352182 meters looking forward 100.000000 meters along route # Maximum depth: 1845.573018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.352182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152551; longitude = -129.947484; duration = 423; initialDepth = 1768.309447; finalDepth = 1768.352182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7309539999999 # Actual altitude: 82.7309539999999 # Commanded vehicle depth: 1768.352182 # Seafloor depth: -1845.573018 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.101424 meters # Minimum depth: 1818.309447 meters looking forward 100.000000 meters along route # Maximum depth: 1832.970349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.309447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151774; longitude = -129.948281; duration = 400; initialDepth = 1772.296447; finalDepth = 1768.309447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.220836 # Actual altitude: 77.220836 # Commanded vehicle depth: 1768.309447 # Seafloor depth: -1818.309447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.299120 meters # Minimum depth: 1822.296447 meters looking forward 100.000000 meters along route # Maximum depth: 1834.461010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.296447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151041; longitude = -129.949034; duration = 413; initialDepth = 1770.397723; finalDepth = 1772.296447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6549680000001 # Actual altitude: 60.6549680000001 # Commanded vehicle depth: 1772.296447 # Seafloor depth: -1832.951415 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.763364 meters # Minimum depth: 1820.397723 meters looking forward 100.000000 meters along route # Maximum depth: 1835.005904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.397723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150284; longitude = -129.949811; duration = 423; initialDepth = 1769.670282; finalDepth = 1770.397723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6549680000001 # Actual altitude: 60.6549680000001 # Commanded vehicle depth: 1770.397723 # Seafloor depth: -1822.308402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.836314 meters # Minimum depth: 1819.670282 meters looking forward 100.000000 meters along route # Maximum depth: 1823.566142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.670282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149509; longitude = -129.950606; duration = 403; initialDepth = 1769.482277; finalDepth = 1769.670282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2901219999999 # Actual altitude: 53.2901219999999 # Commanded vehicle depth: 1769.670282 # Seafloor depth: -1822.960404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.300559 meters # Minimum depth: 1819.482277 meters looking forward 100.000000 meters along route # Maximum depth: 1830.376567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.482277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148770; longitude = -129.951364; duration = 413; initialDepth = 1780.269490; finalDepth = 1769.482277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2901219999999 # Actual altitude: 53.2901219999999 # Commanded vehicle depth: 1769.482277 # Seafloor depth: -1820.886113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.031330 meters # Minimum depth: 1830.269490 meters looking forward 100.000000 meters along route # Maximum depth: 1867.583246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.269490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148013; longitude = -129.952141; duration = 420; initialDepth = 1812.536223; finalDepth = 1780.269490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.403836 # Actual altitude: 51.403836 # Commanded vehicle depth: 1780.26949 # Seafloor depth: -1830.390387 # 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 8 # Segment length 101.571226 meters # Minimum depth: 1862.536223 meters looking forward 100.000000 meters along route # Maximum depth: 1870.714492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.536223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147244; longitude = -129.952930; duration = 406; initialDepth = 1800.760664; finalDepth = 1812.536223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6904849999999 # Actual altitude: 55.6904849999999 # Commanded vehicle depth: 1812.536223 # Seafloor depth: -1868.226708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.301998 meters # Minimum depth: 1850.760664 meters looking forward 100.000000 meters along route # Maximum depth: 1858.592283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.760664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146500; longitude = -129.953694; duration = 413; initialDepth = 1805.467913; finalDepth = 1800.760664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3556910000002 # Actual altitude: 57.3556910000002 # Commanded vehicle depth: 1800.760664 # Seafloor depth: -1858.116355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.299277 meters # Minimum depth: 1855.467913 meters looking forward 100.000000 meters along route # Maximum depth: 1865.402046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.467913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145743; longitude = -129.954471; duration = 417; initialDepth = 1811.855701; finalDepth = 1805.467913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3556910000002 # Actual altitude: 57.3556910000002 # Commanded vehicle depth: 1805.467913 # Seafloor depth: -1855.503785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.306157 meters # Minimum depth: 1861.855701 meters looking forward 100.000000 meters along route # Maximum depth: 1865.791107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.855701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144979; longitude = -129.955255; duration = 409; initialDepth = 1801.193770; finalDepth = 1811.855701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5048160000001 # Actual altitude: 53.5048160000001 # Commanded vehicle depth: 1811.855701 # Seafloor depth: -1865.360517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.303437 meters # Minimum depth: 1851.193770 meters looking forward 100.000000 meters along route # Maximum depth: 1861.410747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.193770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144229; longitude = -129.956024; duration = 413; initialDepth = 1797.383562; finalDepth = 1801.193770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2169769999998 # Actual altitude: 60.2169769999998 # Commanded vehicle depth: 1801.19377 # Seafloor depth: -1861.410747 # 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 103.567203 meters # Minimum depth: 1847.383562 meters looking forward 100.000000 meters along route # Maximum depth: 1864.440020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.383562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143472; longitude = -129.956801; duration = 414; initialDepth = 1796.708506; finalDepth = 1797.383562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.780401 # Actual altitude: 63.780401 # Commanded vehicle depth: 1797.383562 # Seafloor depth: -1861.163963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 106.004463 meters # Minimum depth: 1846.708506 meters looking forward 100.000000 meters along route # Maximum depth: 1861.425155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.708506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142713; longitude = -129.957579; duration = 424; initialDepth = 1813.672998; finalDepth = 1796.708506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.780401 # Actual altitude: 63.780401 # Commanded vehicle depth: 1796.708506 # Seafloor depth: -1847.323077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.341522 meters # Minimum depth: 1863.672998 meters looking forward 100.000000 meters along route # Maximum depth: 1876.181797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.672998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141937; longitude = -129.958376; duration = 401; initialDepth = 1825.738737; finalDepth = 1813.672998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6145710000001 # Actual altitude: 50.6145710000001 # Commanded vehicle depth: 1813.672998 # Seafloor depth: -1863.672998 # 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 8 # Segment length 103.305356 meters # Minimum depth: 1875.738737 meters looking forward 100.000000 meters along route # Maximum depth: 1880.683021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.738737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141201; longitude = -129.959131; duration = 413; initialDepth = 1821.703117; finalDepth = 1825.738737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8107130000001 # Actual altitude: 50.8107130000001 # Commanded vehicle depth: 1825.738737 # Seafloor depth: -1876.549450 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 105.535689 meters # Minimum depth: 1871.703117 meters looking forward 100.000000 meters along route # Maximum depth: 1879.740431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.703117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140445; longitude = -129.959907; duration = 422; initialDepth = 1825.182428; finalDepth = 1821.703117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0279840000001 # Actual altitude: 54.0279840000001 # Commanded vehicle depth: 1821.703117 # Seafloor depth: -1875.731101 # 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 8 # Segment length 101.076461 meters # Minimum depth: 1875.182428 meters looking forward 100.000000 meters along route # Maximum depth: 1879.011284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.182428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139671; longitude = -129.960701; duration = 404; initialDepth = 1803.572215; finalDepth = 1825.182428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0279840000001 # Actual altitude: 54.0279840000001 # Commanded vehicle depth: 1825.182428 # Seafloor depth: -1878.355622 # 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 8 # Segment length 103.306795 meters # Minimum depth: 1853.572215 meters looking forward 100.000000 meters along route # Maximum depth: 1875.862610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.572215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138931; longitude = -129.961461; duration = 413; initialDepth = 1790.557367; finalDepth = 1803.572215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.290395 # Actual altitude: 72.290395 # Commanded vehicle depth: 1803.572215 # Seafloor depth: -1875.862610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 104.803609 meters # Minimum depth: 1840.557367 meters looking forward 100.000000 meters along route # Maximum depth: 1853.174047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.557367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138174; longitude = -129.962237; duration = 419; initialDepth = 1791.256911; finalDepth = 1790.557367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.290395 # Actual altitude: 72.290395 # Commanded vehicle depth: 1790.557367 # Seafloor depth: -1853.174047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.811420 meters # Minimum depth: 1841.256911 meters looking forward 100.000000 meters along route # Maximum depth: 1856.526522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.256911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137406; longitude = -129.963025; duration = 407; initialDepth = 1807.312582; finalDepth = 1791.256911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.6166799999999 # Actual altitude: 62.6166799999999 # Commanded vehicle depth: 1791.256911 # Seafloor depth: -1841.256911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.308234 meters # Minimum depth: 1857.312582 meters looking forward 100.000000 meters along route # Maximum depth: 1861.421425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.312582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136660; longitude = -129.963791; duration = 413; initialDepth = 1810.174300; finalDepth = 1807.312582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1807.312582 # Seafloor depth: -1857.312582 # 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 104.071508 meters # Minimum depth: 1860.174300 meters looking forward 100.000000 meters along route # Maximum depth: 1868.264876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.174300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135903; longitude = -129.964567; duration = 416; initialDepth = 1815.235558; finalDepth = 1810.174300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9403900000002 # Actual altitude: 50.9403900000002 # Commanded vehicle depth: 1810.1743 # Seafloor depth: -1861.114690 # 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 8 # Segment length 102.546400 meters # Minimum depth: 1865.235558 meters looking forward 100.000000 meters along route # Maximum depth: 1868.272270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.235558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135141; longitude = -129.965350; duration = 410; initialDepth = 1809.023306; finalDepth = 1815.235558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0367119999999 # Actual altitude: 53.0367119999999 # Commanded vehicle depth: 1815.235558 # Seafloor depth: -1868.272270 # 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 8 # Segment length 103.309673 meters # Minimum depth: 1859.023306 meters looking forward 100.000000 meters along route # Maximum depth: 1864.870261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.023306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134389; longitude = -129.966121; duration = 413; initialDepth = 1799.690198; finalDepth = 1809.023306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.846955 # Actual altitude: 55.846955 # Commanded vehicle depth: 1809.023306 # Seafloor depth: -1864.870261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.407088 meters # Minimum depth: 1849.690198 meters looking forward 100.000000 meters along route # Maximum depth: 1860.657400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.690198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133633; longitude = -129.966897; duration = 401; initialDepth = 1793.324619; finalDepth = 1799.690198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.2529970000001 # Actual altitude: 59.2529970000001 # Commanded vehicle depth: 1799.690198 # Seafloor depth: -1858.943195 # 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; } # ####################################################### # # 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 152.041805 meters # Minimum depth: 1843.324619 meters looking forward 100.000000 meters along route # Maximum depth: 1849.983398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.324619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132897; longitude = -129.967652; duration = 608; # abortOnTimeout = True; initialDepth = 1796.202959; finalDepth = 1793.324619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.2529970000001 # Actual altitude: 59.2529970000001 # Commanded vehicle depth: 1793.324619 # Seafloor depth: -1849.983398 # 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; } # ####################################################### # # 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 123.286761 meters # Minimum depth: 1846.202959 meters looking forward 100.000000 meters along route # Maximum depth: 1852.776819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.202959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133631; longitude = -129.969313; duration = 493; # abortOnTimeout = True; initialDepth = 1799.404416; finalDepth = 1796.202959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6587790000001 # Actual altitude: 56.6587790000001 # Commanded vehicle depth: 1796.202959 # Seafloor depth: -1847.753876 # 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 6 # Segment length 103.265764 meters # Minimum depth: 1849.404416 meters looking forward 100.000000 meters along route # Maximum depth: 1852.794578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.404416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134534; longitude = -129.968386; duration = 413; initialDepth = 1796.601887; finalDepth = 1799.404416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3901619999999 # Actual altitude: 53.3901619999999 # Commanded vehicle depth: 1799.404416 # Seafloor depth: -1852.794578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.271042 meters # Minimum depth: 1846.601887 meters looking forward 100.000000 meters along route # Maximum depth: 1848.728921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.601887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135290; longitude = -129.967609; duration = 413; initialDepth = 1796.257112; finalDepth = 1796.601887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3901619999999 # Actual altitude: 53.3901619999999 # Commanded vehicle depth: 1796.601887 # Seafloor depth: -1848.728921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.031000 meters # Minimum depth: 1846.257112 meters looking forward 100.000000 meters along route # Maximum depth: 1849.417690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.257112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136047; longitude = -129.966832; duration = 424; initialDepth = 1797.637332; finalDepth = 1796.257112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1270339999999 # Actual altitude: 52.1270339999999 # Commanded vehicle depth: 1796.257112 # Seafloor depth: -1847.418492 # 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 6 # Segment length 100.492372 meters # Minimum depth: 1847.637332 meters looking forward 100.000000 meters along route # Maximum depth: 1852.101506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.637332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136824; longitude = -129.966035; duration = 401; initialDepth = 1797.548529; finalDepth = 1797.637332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.513283 # Actual altitude: 51.513283 # Commanded vehicle depth: 1797.637332 # Seafloor depth: -1849.150615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.263846 meters # Minimum depth: 1847.548529 meters looking forward 100.000000 meters along route # Maximum depth: 1853.029315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.548529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137560; longitude = -129.965279; duration = 413; initialDepth = 1799.815129; finalDepth = 1797.548529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0125680000001 # Actual altitude: 53.0125680000001 # Commanded vehicle depth: 1797.548529 # Seafloor depth: -1850.561097 # 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 105.497976 meters # Minimum depth: 1849.815129 meters looking forward 100.000000 meters along route # Maximum depth: 1859.780521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.815129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138316; longitude = -129.964502; duration = 421; initialDepth = 1808.954712; finalDepth = 1799.815129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0125680000001 # Actual altitude: 53.0125680000001 # Commanded vehicle depth: 1799.815129 # Seafloor depth: -1849.815129 # 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 101.028275 meters # Minimum depth: 1858.954712 meters looking forward 100.000000 meters along route # Maximum depth: 1861.162455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.954712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139089; longitude = -129.963709; duration = 404; initialDepth = 1806.621127; finalDepth = 1808.954712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7578659999999 # Actual altitude: 50.7578659999999 # Commanded vehicle depth: 1808.954712 # Seafloor depth: -1859.712578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.262407 meters # Minimum depth: 1856.621127 meters looking forward 100.000000 meters along route # Maximum depth: 1861.828777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.621127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139829; longitude = -129.962949; duration = 413; initialDepth = 1803.033092; finalDepth = 1806.621127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0209790000001 # Actual altitude: 52.0209790000001 # Commanded vehicle depth: 1806.621127 # Seafloor depth: -1858.642106 # 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 6 # Segment length 104.959209 meters # Minimum depth: 1853.033092 meters looking forward 100.000000 meters along route # Maximum depth: 1858.106089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.033092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140585; longitude = -129.962172; duration = 419; initialDepth = 1807.994363; finalDepth = 1803.033092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7399210000001 # Actual altitude: 53.7399210000001 # Commanded vehicle depth: 1803.033092 # Seafloor depth: -1856.773013 # 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 6 # Segment length 101.564164 meters # Minimum depth: 1857.994363 meters looking forward 100.000000 meters along route # Maximum depth: 1862.337356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.994363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141354; longitude = -129.961383; duration = 406; initialDepth = 1812.778065; finalDepth = 1807.994363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7399210000001 # Actual altitude: 53.7399210000001 # Commanded vehicle depth: 1807.994363 # Seafloor depth: -1857.994363 # 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 6 # Segment length 103.260967 meters # Minimum depth: 1862.778065 meters looking forward 100.000000 meters along route # Maximum depth: 1867.063374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.778065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142098; longitude = -129.960619; duration = 413; initialDepth = 1801.374802; finalDepth = 1812.778065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1812.778065 # Seafloor depth: -1862.778065 # 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 6 # Segment length 104.420459 meters # Minimum depth: 1851.374802 meters looking forward 100.000000 meters along route # Maximum depth: 1863.622246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.374802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142854; longitude = -129.959842; duration = 417; initialDepth = 1801.738148; finalDepth = 1801.374802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2474439999999 # Actual altitude: 62.2474439999999 # Commanded vehicle depth: 1801.374802 # Seafloor depth: -1863.622246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.100037 meters # Minimum depth: 1851.738148 meters looking forward 100.000000 meters along route # Maximum depth: 1866.909171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.738148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143619; longitude = -129.959057; duration = 408; initialDepth = 1814.963792; finalDepth = 1801.738148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2474439999999 # Actual altitude: 62.2474439999999 # Commanded vehicle depth: 1801.738148 # Seafloor depth: -1851.738148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.259529 meters # Minimum depth: 1864.963792 meters looking forward 100.000000 meters along route # Maximum depth: 1868.330484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.963792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144367; longitude = -129.958289; duration = 413; initialDepth = 1812.731314; finalDepth = 1814.963792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7231710000001 # Actual altitude: 51.7231710000001 # Commanded vehicle depth: 1814.963792 # Seafloor depth: -1866.686963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.881722 meters # Minimum depth: 1862.731314 meters looking forward 100.000000 meters along route # Maximum depth: 1878.009535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.731314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145124; longitude = -129.957512; duration = 415; initialDepth = 1821.829536; finalDepth = 1812.731314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0334529999998 # Actual altitude: 54.0334529999998 # Commanded vehicle depth: 1812.731314 # Seafloor depth: -1866.764767 # 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 6 # Segment length 102.635895 meters # Minimum depth: 1871.829536 meters looking forward 100.000000 meters along route # Maximum depth: 1877.846420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.829536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145885; longitude = -129.956731; duration = 410; initialDepth = 1817.418997; finalDepth = 1821.829536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0168840000001 # Actual altitude: 56.0168840000001 # Commanded vehicle depth: 1821.829536 # Seafloor depth: -1877.846420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.258090 meters # Minimum depth: 1867.418997 meters looking forward 100.000000 meters along route # Maximum depth: 1871.318067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.418997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146636; longitude = -129.955959; duration = 413; initialDepth = 1814.575384; finalDepth = 1817.418997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0168840000001 # Actual altitude: 56.0168840000001 # Commanded vehicle depth: 1817.418997 # Seafloor depth: -1871.081204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.343002 meters # Minimum depth: 1864.575384 meters looking forward 100.000000 meters along route # Maximum depth: 1874.977749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.575384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147393; longitude = -129.955183; duration = 413; initialDepth = 1787.478728; finalDepth = 1814.575384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6622070000001 # Actual altitude: 53.6622070000001 # Commanded vehicle depth: 1814.575384 # Seafloor depth: -1867.430800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.023119 meters # Minimum depth: 1837.478728 meters looking forward 100.000000 meters along route # Maximum depth: 1868.159171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.478728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148150; longitude = -129.954405; duration = 424; initialDepth = 1777.290159; finalDepth = 1787.478728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.167279 # Actual altitude: 77.167279 # Commanded vehicle depth: 1787.478728 # Seafloor depth: -1864.646007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.405270 meters # Minimum depth: 1827.290159 meters looking forward 100.000000 meters along route # Maximum depth: 1835.655442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.290159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148927; longitude = -129.953608; duration = 401; initialDepth = 1784.251187; finalDepth = 1777.290159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.167279 # Actual altitude: 77.167279 # Commanded vehicle depth: 1777.290159 # Seafloor depth: -1835.655442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.256171 meters # Minimum depth: 1834.251187 meters looking forward 100.000000 meters along route # Maximum depth: 1855.990159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.251187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149662; longitude = -129.952853; duration = 413; initialDepth = 1800.447009; finalDepth = 1784.251187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3652830000001 # Actual altitude: 58.3652830000001 # Commanded vehicle depth: 1784.251187 # Seafloor depth: -1834.251187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.569770 meters # Minimum depth: 1850.447009 meters looking forward 100.000000 meters along route # Maximum depth: 1866.408992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.447009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150418; longitude = -129.952076; duration = 422; initialDepth = 1780.666581; finalDepth = 1800.447009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8397219999999 # Actual altitude: 55.8397219999999 # Commanded vehicle depth: 1800.447009 # Seafloor depth: -1856.286731 # 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 6 # Segment length 100.941134 meters # Minimum depth: 1830.666581 meters looking forward 100.000000 meters along route # Maximum depth: 1848.976762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.666581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151192; longitude = -129.951282; duration = 403; initialDepth = 1771.836430; finalDepth = 1780.666581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3101810000001 # Actual altitude: 68.3101810000001 # Commanded vehicle depth: 1780.666581 # Seafloor depth: -1848.976762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.254733 meters # Minimum depth: 1821.836430 meters looking forward 100.000000 meters along route # Maximum depth: 1840.899048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.836430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151931; longitude = -129.950523; duration = 413; initialDepth = 1791.404896; finalDepth = 1771.836430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3101810000001 # Actual altitude: 68.3101810000001 # Commanded vehicle depth: 1771.83643 # Seafloor depth: -1829.401302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 105.031042 meters # Minimum depth: 1841.404896 meters looking forward 100.000000 meters along route # Maximum depth: 1872.018334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.404896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152688; longitude = -129.949746; duration = 420; initialDepth = 1819.765090; finalDepth = 1791.404896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5648719999999 # Actual altitude: 57.5648719999999 # Commanded vehicle depth: 1791.404896 # Seafloor depth: -1841.404896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 101.476984 meters # Minimum depth: 1869.765090 meters looking forward 100.000000 meters along route # Maximum depth: 1880.152696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.765090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153457; longitude = -129.948956; duration = 405; initialDepth = 1829.247558; finalDepth = 1819.765090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2062899999999 # Actual altitude: 52.2062899999999 # Commanded vehicle depth: 1819.76509 # Seafloor depth: -1871.971380 # 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 6 # Segment length 103.253294 meters # Minimum depth: 1879.247558 meters looking forward 100.000000 meters along route # Maximum depth: 1884.257905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.247558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154200; longitude = -129.948193; duration = 413; initialDepth = 1832.163998; finalDepth = 1829.247558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.345098 # Actual altitude: 52.345098 # Commanded vehicle depth: 1829.247558 # Seafloor depth: -1881.592656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.492331 meters # Minimum depth: 1882.163998 meters looking forward 100.000000 meters along route # Maximum depth: 1885.882806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.163998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154957; longitude = -129.947416; duration = 417; initialDepth = 1819.401530; finalDepth = 1832.163998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.345098 # Actual altitude: 52.345098 # Commanded vehicle depth: 1832.163998 # Seafloor depth: -1884.271149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.012819 meters # Minimum depth: 1869.401530 meters looking forward 100.000000 meters along route # Maximum depth: 1882.854517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.401530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155722; longitude = -129.946630; duration = 408; initialDepth = 1815.567763; finalDepth = 1819.401530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7828999999999 # Actual altitude: 62.7828999999999 # Commanded vehicle depth: 1819.40153 # Seafloor depth: -1882.184430 # 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 6 # Segment length 103.251855 meters # Minimum depth: 1865.567763 meters looking forward 100.000000 meters along route # Maximum depth: 1888.897513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.567763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156470; longitude = -129.945863; duration = 413; initialDepth = 1840.538058; finalDepth = 1815.567763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7828999999999 # Actual altitude: 62.7828999999999 # Commanded vehicle depth: 1815.567763 # Seafloor depth: -1867.209825 # 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 6 # Segment length 103.953634 meters # Minimum depth: 1890.538058 meters looking forward 100.000000 meters along route # Maximum depth: 1914.305924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.538058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157226; longitude = -129.945086; duration = 415; initialDepth = 1854.374704; finalDepth = 1840.538058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6420619999999 # Actual altitude: 51.6420619999999 # Commanded vehicle depth: 1840.538058 # Seafloor depth: -1890.538058 # 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 102.548639 meters # Minimum depth: 1904.374704 meters looking forward 100.000000 meters along route # Maximum depth: 1912.949693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.374704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157988; longitude = -129.944304; duration = 410; initialDepth = 1849.929537; finalDepth = 1854.374704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.574989 # Actual altitude: 58.574989 # Commanded vehicle depth: 1854.374704 # Seafloor depth: -1912.949693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.250417 meters # Minimum depth: 1899.929537 meters looking forward 100.000000 meters along route # Maximum depth: 1906.369400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.929537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158739; longitude = -129.943533; duration = 413; initialDepth = 1837.099750; finalDepth = 1849.929537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.574989 # Actual altitude: 58.574989 # Commanded vehicle depth: 1849.929537 # Seafloor depth: -1903.961341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.414952 meters # Minimum depth: 1887.099750 meters looking forward 100.000000 meters along route # Maximum depth: 1906.628073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.099750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159495; longitude = -129.942756; duration = 413; initialDepth = 1837.106045; finalDepth = 1837.099750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.528323 # Actual altitude: 69.528323 # Commanded vehicle depth: 1837.09975 # Seafloor depth: -1906.628073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.015241 meters # Minimum depth: 1887.106045 meters looking forward 100.000000 meters along route # Maximum depth: 1890.298931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.106045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160253; longitude = -129.941978; duration = 424; initialDepth = 1832.096985; finalDepth = 1837.106045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.528323 # Actual altitude: 69.528323 # Commanded vehicle depth: 1837.106045 # Seafloor depth: -1887.106045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.318181 meters # Minimum depth: 1882.096985 meters looking forward 100.000000 meters along route # Maximum depth: 1887.035127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.096985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161030; longitude = -129.941181; duration = 401; initialDepth = 1832.372947; finalDepth = 1832.096985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9381420000002 # Actual altitude: 54.9381420000002 # Commanded vehicle depth: 1832.096985 # Seafloor depth: -1887.035127 # 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 6 # Segment length 103.248499 meters # Minimum depth: 1882.372947 meters looking forward 100.000000 meters along route # Maximum depth: 1889.747244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.372947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161764; longitude = -129.940426; duration = 412; initialDepth = 1839.325687; finalDepth = 1832.372947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9381420000002 # Actual altitude: 54.9381420000002 # Commanded vehicle depth: 1832.372947 # Seafloor depth: -1882.635777 # 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 6 # Segment length 105.641553 meters # Minimum depth: 1889.325687 meters looking forward 100.000000 meters along route # Maximum depth: 1904.452436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.325687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162521; longitude = -129.939649; duration = 422; initialDepth = 1850.235141; finalDepth = 1839.325687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.360124 # Actual altitude: 50.360124 # Commanded vehicle depth: 1839.325687 # Seafloor depth: -1889.685811 # 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 6 # Segment length 100.854008 meters # Minimum depth: 1900.235141 meters looking forward 100.000000 meters along route # Maximum depth: 1904.598414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.235141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163295; longitude = -129.938855; duration = 403; initialDepth = 1850.580412; finalDepth = 1850.235141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3344949999998 # Actual altitude: 51.3344949999998 # Commanded vehicle depth: 1850.235141 # Seafloor depth: -1901.569636 # 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 6 # Segment length 103.247061 meters # Minimum depth: 1900.580412 meters looking forward 100.000000 meters along route # Maximum depth: 1909.574876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.580412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164034; longitude = -129.938096; duration = 412; initialDepth = 1858.618150; finalDepth = 1850.580412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3344949999998 # Actual altitude: 51.3344949999998 # Commanded vehicle depth: 1850.580412 # Seafloor depth: -1900.580412 # 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 6 # Segment length 105.102865 meters # Minimum depth: 1908.618150 meters looking forward 100.000000 meters along route # Maximum depth: 1916.584733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.618150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164790; longitude = -129.937319; duration = 420; initialDepth = 1855.409868; finalDepth = 1858.618150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8596849999999 # Actual altitude: 50.8596849999999 # Commanded vehicle depth: 1858.61815 # Seafloor depth: -1909.477835 # 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 6 # Segment length 101.389818 meters # Minimum depth: 1905.409868 meters looking forward 100.000000 meters along route # Maximum depth: 1913.167827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.409868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165560; longitude = -129.936529; duration = 405; initialDepth = 1862.184996; finalDepth = 1855.409868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1177 # Actual altitude: 55.1177 # Commanded vehicle depth: 1855.409868 # Seafloor depth: -1910.527568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.245623 meters # Minimum depth: 1912.184996 meters looking forward 100.000000 meters along route # Maximum depth: 1932.196145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.184996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166303; longitude = -129.935766; duration = 412; initialDepth = 1879.159292; finalDepth = 1862.184996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1177 # Actual altitude: 55.1177 # Commanded vehicle depth: 1862.184996 # Seafloor depth: -1912.738580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.564193 meters # Minimum depth: 1929.159292 meters looking forward 100.000000 meters along route # Maximum depth: 1932.371123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.159292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167059; longitude = -129.934989; duration = 418; initialDepth = 1879.791711; finalDepth = 1879.159292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2118309999998 # Actual altitude: 53.2118309999998 # Commanded vehicle depth: 1879.159292 # Seafloor depth: -1932.371123 # 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 6 # Segment length 101.925614 meters # Minimum depth: 1929.791711 meters looking forward 100.000000 meters along route # Maximum depth: 1938.397880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.791711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167825; longitude = -129.934203; duration = 407; initialDepth = 1888.267514; finalDepth = 1879.791711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2118309999998 # Actual altitude: 53.2118309999998 # Commanded vehicle depth: 1879.791711 # Seafloor depth: -1930.141889 # 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 6 # Segment length 103.244185 meters # Minimum depth: 1938.267514 meters looking forward 100.000000 meters along route # Maximum depth: 1944.293348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.267514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168572; longitude = -129.933436; duration = 412; initialDepth = 1881.958096; finalDepth = 1888.267514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8118690000001 # Actual altitude: 51.8118690000001 # Commanded vehicle depth: 1888.267514 # Seafloor depth: -1940.079383 # 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 6 # Segment length 104.025535 meters # Minimum depth: 1931.958096 meters looking forward 100.000000 meters along route # Maximum depth: 1938.031180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.958096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169328; longitude = -129.932659; duration = 416; initialDepth = 1882.007441; finalDepth = 1881.958096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0730839999999 # Actual altitude: 56.0730839999999 # Commanded vehicle depth: 1881.958096 # Seafloor depth: -1938.031180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.461396 meters # Minimum depth: 1932.007441 meters looking forward 100.000000 meters along route # Maximum depth: 1940.905680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.007441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170091; longitude = -129.931877; duration = 409; initialDepth = 1886.568621; finalDepth = 1882.007441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0730839999999 # Actual altitude: 56.0730839999999 # Commanded vehicle depth: 1882.007441 # Seafloor depth: -1932.007441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.242747 meters # Minimum depth: 1936.568621 meters looking forward 100.000000 meters along route # Maximum depth: 1940.000306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.568621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170841; longitude = -129.931106; duration = 412; initialDepth = 1882.170676; finalDepth = 1886.568621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8187670000002 # Actual altitude: 52.8187670000002 # Commanded vehicle depth: 1886.568621 # Seafloor depth: -1939.387388 # 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 6 # Segment length 103.486892 meters # Minimum depth: 1932.170676 meters looking forward 100.000000 meters along route # Maximum depth: 1938.325481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.170676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171598; longitude = -129.930329; duration = 413; initialDepth = 1882.030324; finalDepth = 1882.170676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.771358 # Actual altitude: 54.771358 # Commanded vehicle depth: 1882.170676 # Seafloor depth: -1936.942034 # 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 6 # Segment length 102.997163 meters # Minimum depth: 1932.030324 meters looking forward 100.000000 meters along route # Maximum depth: 1945.114613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.030324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.172356; longitude = -129.929551; duration = 411; initialDepth = 1888.172989; finalDepth = 1882.030324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.771358 # Actual altitude: 54.771358 # Commanded vehicle depth: 1882.030324 # Seafloor depth: -1932.154934 # 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 6 # Segment length 100.183177 meters # Minimum depth: 1938.172989 meters looking forward 100.000000 meters along route # Maximum depth: 1945.817830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.172989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.173110; longitude = -129.928776; duration = 400; initialDepth = 1884.069674; finalDepth = 1888.172989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4516060000001 # Actual altitude: 55.4516060000001 # Commanded vehicle depth: 1888.172989 # Seafloor depth: -1943.624595 # 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 6 # Segment length 100.805952 meters # Minimum depth: 1934.069674 meters looking forward 100.000000 meters along route # Maximum depth: 1944.482598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.069674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.173844; longitude = -129.928022; duration = 403; initialDepth = 1885.656982; finalDepth = 1884.069674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.7203649999999 # Actual altitude: 55.7203649999999 # Commanded vehicle depth: 1884.069674 # Seafloor depth: -1939.790039 # 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; } # ####################################################### # # 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 149.946354 meters # Minimum depth: 1935.656982 meters looking forward 100.000000 meters along route # Maximum depth: 1945.744045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.656982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.174583; longitude = -129.927264; duration = 599; # abortOnTimeout = True; initialDepth = 1892.814128; finalDepth = 1885.656982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.7203649999999 # Actual altitude: 55.7203649999999 # Commanded vehicle depth: 1885.656982 # Seafloor depth: -1935.656982 # 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; } # ####################################################### # # 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 76.997517 meters # Minimum depth: 1942.814128 meters looking forward 100.000000 meters along route # Maximum depth: 1946.972833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.814128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.175368; longitude = -129.928844; duration = 307; # abortOnTimeout = True; initialDepth = 1855.122001; finalDepth = 1892.814128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4359939999999 # Actual altitude: 53.4359939999999 # Commanded vehicle depth: 1892.814128 # Seafloor depth: -1946.250122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.447339 meters # Minimum depth: 1905.122001 meters looking forward 100.000000 meters along route # Maximum depth: 1943.290379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.122001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.174804; longitude = -129.929423; duration = 417; initialDepth = 1827.486710; finalDepth = 1855.122001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.8542 # Actual altitude: 87.8542 # Commanded vehicle depth: 1855.122001 # Seafloor depth: -1942.976201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.042384 meters # Minimum depth: 1877.486710 meters looking forward 100.000000 meters along route # Maximum depth: 1905.480159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.486710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.174039; longitude = -129.930209; duration = 408; initialDepth = 1819.590689; finalDepth = 1827.486710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.8542 # Actual altitude: 87.8542 # Commanded vehicle depth: 1827.48671 # Seafloor depth: -1905.480159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.245581 meters # Minimum depth: 1869.590689 meters looking forward 100.000000 meters along route # Maximum depth: 1877.778533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.590689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.173291; longitude = -129.930977; duration = 412; initialDepth = 1821.924365; finalDepth = 1819.590689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9934490000001 # Actual altitude: 77.9934490000001 # Commanded vehicle depth: 1819.590689 # Seafloor depth: -1877.778533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.894074 meters # Minimum depth: 1871.924365 meters looking forward 100.000000 meters along route # Maximum depth: 1907.517870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.924365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.172535; longitude = -129.931753; duration = 415; initialDepth = 1857.528563; finalDepth = 1821.924365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1878439999998 # Actual altitude: 58.1878439999998 # Commanded vehicle depth: 1821.924365 # Seafloor depth: -1871.924365 # 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 4 # Segment length 102.598525 meters # Minimum depth: 1907.528563 meters looking forward 100.000000 meters along route # Maximum depth: 1929.854636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.528563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171773; longitude = -129.932535; duration = 410; initialDepth = 1877.044241; finalDepth = 1857.528563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1857.528563 # Seafloor depth: -1907.528563 # 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 103.247019 meters # Minimum depth: 1927.044241 meters looking forward 100.000000 meters along route # Maximum depth: 1932.098468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.044241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.171022; longitude = -129.933307; duration = 412; initialDepth = 1854.123962; finalDepth = 1877.044241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3384719999999 # Actual altitude: 52.3384719999999 # Commanded vehicle depth: 1877.044241 # Seafloor depth: -1929.382713 # 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 4 # Segment length 103.340795 meters # Minimum depth: 1904.123962 meters looking forward 100.000000 meters along route # Maximum depth: 1928.558967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.123962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.170265; longitude = -129.934083; duration = 413; initialDepth = 1838.964101; finalDepth = 1854.123962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.435005 # Actual altitude: 74.435005 # Commanded vehicle depth: 1854.123962 # Seafloor depth: -1928.558967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.007735 meters # Minimum depth: 1888.964101 meters looking forward 100.000000 meters along route # Maximum depth: 1904.136895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.964101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.169508; longitude = -129.934861; duration = 424; initialDepth = 1850.443908; finalDepth = 1838.964101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.435005 # Actual altitude: 74.435005 # Commanded vehicle depth: 1838.964101 # Seafloor depth: -1904.136895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.395402 meters # Minimum depth: 1900.443908 meters looking forward 100.000000 meters along route # Maximum depth: 1908.671386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.443908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.168731; longitude = -129.935658; duration = 401; initialDepth = 1837.061172; finalDepth = 1850.443908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1727940000001 # Actual altitude: 65.1727940000001 # Commanded vehicle depth: 1850.443908 # Seafloor depth: -1900.508005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.248937 meters # Minimum depth: 1887.061172 meters looking forward 100.000000 meters along route # Maximum depth: 1900.521794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.061172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167996; longitude = -129.936413; duration = 412; initialDepth = 1834.087594; finalDepth = 1837.061172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.9203480000001 # Actual altitude: 62.9203480000001 # Commanded vehicle depth: 1837.061172 # Seafloor depth: -1899.981520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.547773 meters # Minimum depth: 1884.087594 meters looking forward 100.000000 meters along route # Maximum depth: 1898.377367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.087594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.167239; longitude = -129.937190; duration = 422; initialDepth = 1824.536611; finalDepth = 1834.087594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.9203480000001 # Actual altitude: 62.9203480000001 # Commanded vehicle depth: 1834.087594 # Seafloor depth: -1892.832027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.951538 meters # Minimum depth: 1874.536611 meters looking forward 100.000000 meters along route # Maximum depth: 1884.609044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.536611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.166466; longitude = -129.937984; duration = 403; initialDepth = 1825.974691; finalDepth = 1824.536611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.072433 # Actual altitude: 60.072433 # Commanded vehicle depth: 1824.536611 # Seafloor depth: -1884.609044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.250374 meters # Minimum depth: 1875.974691 meters looking forward 100.000000 meters along route # Maximum depth: 1898.584661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.974691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165727; longitude = -129.938743; duration = 413; initialDepth = 1837.789820; finalDepth = 1825.974691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.072433 # Actual altitude: 60.072433 # Commanded vehicle depth: 1825.974691 # Seafloor depth: -1875.974691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.994499 meters # Minimum depth: 1887.789820 meters looking forward 100.000000 meters along route # Maximum depth: 1900.138045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.789820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164970; longitude = -129.939520; duration = 419; initialDepth = 1825.916852; finalDepth = 1837.789820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.508092 # Actual altitude: 60.508092 # Commanded vehicle depth: 1837.78982 # Seafloor depth: -1898.297912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.507689 meters # Minimum depth: 1875.916852 meters looking forward 100.000000 meters along route # Maximum depth: 1887.172301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.916852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164201; longitude = -129.940310; duration = 406; initialDepth = 1837.059114; finalDepth = 1825.916852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.255449 # Actual altitude: 61.255449 # Commanded vehicle depth: 1825.916852 # Seafloor depth: -1887.172301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.251813 meters # Minimum depth: 1887.059114 meters looking forward 100.000000 meters along route # Maximum depth: 1899.101022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.059114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163457; longitude = -129.941073; duration = 413; initialDepth = 1844.377586; finalDepth = 1837.059114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.255449 # Actual altitude: 61.255449 # Commanded vehicle depth: 1837.059114 # Seafloor depth: -1887.059114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.441209 meters # Minimum depth: 1894.377586 meters looking forward 100.000000 meters along route # Maximum depth: 1911.041483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.377586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162701; longitude = -129.941850; duration = 417; initialDepth = 1856.079651; finalDepth = 1844.377586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.572942 # Actual altitude: 53.572942 # Commanded vehicle depth: 1844.377586 # Seafloor depth: -1897.950528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.063855 meters # Minimum depth: 1906.079651 meters looking forward 100.000000 meters along route # Maximum depth: 1916.469088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.079651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161936; longitude = -129.942635; duration = 408; initialDepth = 1856.100485; finalDepth = 1856.079651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.572942 # Actual altitude: 53.572942 # Commanded vehicle depth: 1856.079651 # Seafloor depth: -1906.684615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.253251 meters # Minimum depth: 1906.100485 meters looking forward 100.000000 meters along route # Maximum depth: 1915.131986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.100485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161188; longitude = -129.943403; duration = 413; initialDepth = 1820.271349; finalDepth = 1856.100485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0315010000002 # Actual altitude: 59.0315010000002 # Commanded vehicle depth: 1856.100485 # Seafloor depth: -1915.131986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.887905 meters # Minimum depth: 1870.271349 meters looking forward 100.000000 meters along route # Maximum depth: 1904.022282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.271349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160431; longitude = -129.944180; duration = 415; initialDepth = 1819.109725; finalDepth = 1820.271349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.074126 # Actual altitude: 83.074126 # Commanded vehicle depth: 1820.271349 # Seafloor depth: -1903.345475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.620037 meters # Minimum depth: 1869.109725 meters looking forward 100.000000 meters along route # Maximum depth: 1889.312406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.109725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159670; longitude = -129.944961; duration = 410; initialDepth = 1840.421325; finalDepth = 1819.109725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.074126 # Actual altitude: 83.074126 # Commanded vehicle depth: 1819.109725 # Seafloor depth: -1870.432026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.254690 meters # Minimum depth: 1890.421325 meters looking forward 100.000000 meters along route # Maximum depth: 1901.970819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.421325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158919; longitude = -129.945733; duration = 413; initialDepth = 1840.689243; finalDepth = 1840.421325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3223009999999 # Actual altitude: 51.3223009999999 # Commanded vehicle depth: 1840.421325 # Seafloor depth: -1890.421325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.334584 meters # Minimum depth: 1890.689243 meters looking forward 100.000000 meters along route # Maximum depth: 1905.480520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.689243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158162; longitude = -129.946510; duration = 413; initialDepth = 1823.581523; finalDepth = 1840.689243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.028157 # Actual altitude: 60.028157 # Commanded vehicle depth: 1840.689243 # Seafloor depth: -1900.717400 # 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 4 # Segment length 106.015611 meters # Minimum depth: 1873.581523 meters looking forward 100.000000 meters along route # Maximum depth: 1891.575484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.581523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157405; longitude = -129.947287; duration = 424; initialDepth = 1824.623931; finalDepth = 1823.581523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0860269999998 # Actual altitude: 67.0860269999998 # Commanded vehicle depth: 1823.581523 # Seafloor depth: -1890.667550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.416751 meters # Minimum depth: 1874.623931 meters looking forward 100.000000 meters along route # Maximum depth: 1878.802319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.623931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156628; longitude = -129.948084; duration = 401; initialDepth = 1828.448972; finalDepth = 1824.623931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0860269999998 # Actual altitude: 67.0860269999998 # Commanded vehicle depth: 1824.623931 # Seafloor depth: -1875.016331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.256608 meters # Minimum depth: 1878.448972 meters looking forward 100.000000 meters along route # Maximum depth: 1886.774056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.448972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155893; longitude = -129.948840; duration = 413; initialDepth = 1820.056439; finalDepth = 1828.448972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3924 # Actual altitude: 50.3924 # Commanded vehicle depth: 1828.448972 # Seafloor depth: -1878.448972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.541726 meters # Minimum depth: 1870.056439 meters looking forward 100.000000 meters along route # Maximum depth: 1881.407111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.056439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155136; longitude = -129.949616; duration = 422; initialDepth = 1812.760814; finalDepth = 1820.056439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.839477 # Actual altitude: 60.839477 # Commanded vehicle depth: 1820.056439 # Seafloor depth: -1880.895916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.972929 meters # Minimum depth: 1862.760814 meters looking forward 100.000000 meters along route # Maximum depth: 1870.057778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.760814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154363; longitude = -129.950410; duration = 403; initialDepth = 1813.429091; finalDepth = 1812.760814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.839477 # Actual altitude: 60.839477 # Commanded vehicle depth: 1812.760814 # Seafloor depth: -1870.057778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.258047 meters # Minimum depth: 1863.429091 meters looking forward 100.000000 meters along route # Maximum depth: 1865.978400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.429091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153623; longitude = -129.951170; duration = 413; initialDepth = 1814.251312; finalDepth = 1813.429091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2969640000001 # Actual altitude: 57.2969640000001 # Commanded vehicle depth: 1813.429091 # Seafloor depth: -1864.155270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.988410 meters # Minimum depth: 1864.251312 meters looking forward 100.000000 meters along route # Maximum depth: 1867.381808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.251312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152867; longitude = -129.951946; duration = 419; initialDepth = 1812.574916; finalDepth = 1814.251312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7070549999999 # Actual altitude: 51.7070549999999 # Commanded vehicle depth: 1814.251312 # Seafloor depth: -1865.958367 # 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 101.529122 meters # Minimum depth: 1862.574916 meters looking forward 100.000000 meters along route # Maximum depth: 1867.422152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.574916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152098; longitude = -129.952736; duration = 406; initialDepth = 1811.233358; finalDepth = 1812.574916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7070549999999 # Actual altitude: 51.7070549999999 # Commanded vehicle depth: 1812.574916 # Seafloor depth: -1863.878514 # 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 103.259485 meters # Minimum depth: 1861.233358 meters looking forward 100.000000 meters along route # Maximum depth: 1867.559857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.233358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151354; longitude = -129.953500; duration = 413; initialDepth = 1812.589561; finalDepth = 1811.233358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9480599999999 # Actual altitude: 55.9480599999999 # Commanded vehicle depth: 1811.233358 # Seafloor depth: -1867.181418 # 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 4 # Segment length 104.435080 meters # Minimum depth: 1862.589561 meters looking forward 100.000000 meters along route # Maximum depth: 1870.474103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.589561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150598; longitude = -129.954276; duration = 417; initialDepth = 1817.226857; finalDepth = 1812.589561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9480599999999 # Actual altitude: 55.9480599999999 # Commanded vehicle depth: 1812.589561 # Seafloor depth: -1862.896284 # 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 4 # Segment length 102.085330 meters # Minimum depth: 1867.226857 meters looking forward 100.000000 meters along route # Maximum depth: 1871.187087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.226857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149833; longitude = -129.955062; duration = 408; initialDepth = 1816.689309; finalDepth = 1817.226857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.858653 # Actual altitude: 52.858653 # Commanded vehicle depth: 1817.226857 # Seafloor depth: -1870.085510 # 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 4 # Segment length 103.260924 meters # Minimum depth: 1866.689309 meters looking forward 100.000000 meters along route # Maximum depth: 1870.240177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.689309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149085; longitude = -129.955830; duration = 413; initialDepth = 1819.473170; finalDepth = 1816.689309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.858653 # Actual altitude: 52.858653 # Commanded vehicle depth: 1816.689309 # Seafloor depth: -1867.685657 # 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 4 # Segment length 103.881734 meters # Minimum depth: 1869.473170 meters looking forward 100.000000 meters along route # Maximum depth: 1872.892744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.473170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148328; longitude = -129.956606; duration = 415; initialDepth = 1819.428773; finalDepth = 1819.473170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9963479999999 # Actual altitude: 50.9963479999999 # Commanded vehicle depth: 1819.47317 # Seafloor depth: -1870.391228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.641553 meters # Minimum depth: 1869.428773 meters looking forward 100.000000 meters along route # Maximum depth: 1875.423079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.428773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147567; longitude = -129.957388; duration = 410; initialDepth = 1824.941407; finalDepth = 1819.428773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.918058 # Actual altitude: 50.918058 # Commanded vehicle depth: 1819.428773 # Seafloor depth: -1869.428773 # 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 4 # Segment length 103.262363 meters # Minimum depth: 1874.941407 meters looking forward 100.000000 meters along route # Maximum depth: 1887.199387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.941407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146815; longitude = -129.958160; duration = 413; initialDepth = 1828.763926; finalDepth = 1824.941407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1824.941407 # Seafloor depth: -1874.941407 # 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 103.328373 meters # Minimum depth: 1878.763926 meters looking forward 100.000000 meters along route # Maximum depth: 1887.773710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.763926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146059; longitude = -129.958936; duration = 413; initialDepth = 1812.820204; finalDepth = 1828.763926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.769765 # Actual altitude: 57.769765 # Commanded vehicle depth: 1828.763926 # Seafloor depth: -1886.533691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 106.023490 meters # Minimum depth: 1862.820204 meters looking forward 100.000000 meters along route # Maximum depth: 1878.749649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.820204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145302; longitude = -129.959714; duration = 424; initialDepth = 1804.597564; finalDepth = 1812.820204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.929445 # Actual altitude: 65.929445 # Commanded vehicle depth: 1812.820204 # Seafloor depth: -1878.749649 # 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 4 # Segment length 100.438105 meters # Minimum depth: 1854.597564 meters looking forward 100.000000 meters along route # Maximum depth: 1863.020233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.597564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144525; longitude = -129.960511; duration = 401; initialDepth = 1807.829542; finalDepth = 1804.597564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.929445 # Actual altitude: 65.929445 # Commanded vehicle depth: 1804.597564 # Seafloor depth: -1863.020233 # 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 4 # Segment length 103.264281 meters # Minimum depth: 1857.829542 meters looking forward 100.000000 meters along route # Maximum depth: 1863.518074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.829542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143790; longitude = -129.961266; duration = 413; initialDepth = 1808.097512; finalDepth = 1807.829542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.422669 # Actual altitude: 58.422669 # Commanded vehicle depth: 1807.829542 # Seafloor depth: -1857.829542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 105.535679 meters # Minimum depth: 1858.097512 meters looking forward 100.000000 meters along route # Maximum depth: 1863.437007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.097512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143033; longitude = -129.962043; duration = 422; initialDepth = 1807.973966; finalDepth = 1808.097512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.009599 # Actual altitude: 55.009599 # Commanded vehicle depth: 1808.097512 # Seafloor depth: -1863.107111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.994324 meters # Minimum depth: 1857.973966 meters looking forward 100.000000 meters along route # Maximum depth: 1862.006321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.973966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142260; longitude = -129.962837; duration = 403; initialDepth = 1808.952407; finalDepth = 1807.973966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.009599 # Actual altitude: 55.009599 # Commanded vehicle depth: 1807.973966 # Seafloor depth: -1858.295390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.265721 meters # Minimum depth: 1858.952407 meters looking forward 100.000000 meters along route # Maximum depth: 1862.123086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.952407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141520; longitude = -129.963596; duration = 413; initialDepth = 1808.624397; finalDepth = 1808.952407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6092960000001 # Actual altitude: 52.6092960000001 # Commanded vehicle depth: 1808.952407 # Seafloor depth: -1861.561703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.982322 meters # Minimum depth: 1858.624397 meters looking forward 100.000000 meters along route # Maximum depth: 1864.192371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.624397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140764; longitude = -129.964373; duration = 419; initialDepth = 1813.544439; finalDepth = 1808.624397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6092960000001 # Actual altitude: 52.6092960000001 # Commanded vehicle depth: 1808.624397 # Seafloor depth: -1859.922385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 101.550558 meters # Minimum depth: 1863.544439 meters looking forward 100.000000 meters along route # Maximum depth: 1866.238168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.544439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139995; longitude = -129.965163; duration = 406; initialDepth = 1804.695923; finalDepth = 1813.544439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.297988 # Actual altitude: 51.297988 # Commanded vehicle depth: 1813.544439 # Seafloor depth: -1863.544439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.267160 meters # Minimum depth: 1854.695923 meters looking forward 100.000000 meters along route # Maximum depth: 1861.539262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.695923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139251; longitude = -129.965926; duration = 413; initialDepth = 1808.276802; finalDepth = 1804.695923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8030659999999 # Actual altitude: 55.8030659999999 # Commanded vehicle depth: 1804.695923 # Seafloor depth: -1860.498989 # 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 4 # Segment length 104.428951 meters # Minimum depth: 1858.276802 meters looking forward 100.000000 meters along route # Maximum depth: 1866.116304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.276802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138495; longitude = -129.966703; duration = 417; initialDepth = 1810.576293; finalDepth = 1808.276802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8030659999999 # Actual altitude: 55.8030659999999 # Commanded vehicle depth: 1808.276802 # Seafloor depth: -1858.279605 # 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 4 # Segment length 102.106808 meters # Minimum depth: 1860.576293 meters looking forward 100.000000 meters along route # Maximum depth: 1864.813966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.576293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137730; longitude = -129.967488; duration = 408; initialDepth = 1811.955942; finalDepth = 1810.576293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.432489 # Actual altitude: 53.432489 # Commanded vehicle depth: 1810.576293 # Seafloor depth: -1864.008782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.268600 meters # Minimum depth: 1861.955942 meters looking forward 100.000000 meters along route # Maximum depth: 1867.567174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.955942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136982; longitude = -129.968256; duration = 413; initialDepth = 1812.022632; finalDepth = 1811.955942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.432489 # Actual altitude: 53.432489 # Commanded vehicle depth: 1811.955942 # Seafloor depth: -1864.505214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.875563 meters # Minimum depth: 1862.022632 meters looking forward 100.000000 meters along route # Maximum depth: 1868.532081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.022632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136225; longitude = -129.969033; duration = 415; initialDepth = 1809.071768; finalDepth = 1812.022632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.844566 # Actual altitude: 52.844566 # Commanded vehicle depth: 1812.022632 # Seafloor depth: -1864.867198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.663074 meters # Minimum depth: 1859.071768 meters looking forward 100.000000 meters along route # Maximum depth: 1868.544765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.071768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135464; longitude = -129.969814; duration = 410; initialDepth = 1804.560384; finalDepth = 1809.071768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4729970000001 # Actual altitude: 59.4729970000001 # Commanded vehicle depth: 1809.071768 # Seafloor depth: -1868.544765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.561336 meters # Minimum depth: 1854.560384 meters looking forward 100.000000 meters along route # Maximum depth: 1858.774990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.560384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134712; longitude = -129.970586; duration = 402; initialDepth = 1793.665146; finalDepth = 1804.560384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4729970000001 # Actual altitude: 59.4729970000001 # Commanded vehicle depth: 1804.560384 # Seafloor depth: -1858.774990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.177690 meters # Minimum depth: 1843.665146 meters looking forward 100.000000 meters along route # Maximum depth: 1859.174624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.665146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133976; longitude = -129.971343; duration = 400; initialDepth = 1792.883758; finalDepth = 1793.665146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.1773329999999 # Actual altitude: 61.1773329999999 # Commanded vehicle depth: 1793.665146 # Seafloor depth: -1854.842479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.71; 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 152.005994 meters # Minimum depth: 1842.883758 meters looking forward 100.000000 meters along route # Maximum depth: 1850.244257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.883758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133242; longitude = -129.972096; duration = 608; # abortOnTimeout = True; initialDepth = 1798.868378; finalDepth = 1792.883758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.1773329999999 # Actual altitude: 61.1773329999999 # Commanded vehicle depth: 1792.883758 # Seafloor depth: -1844.122406 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.71; 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 152.208236 meters # Minimum depth: 1848.868378 meters looking forward 100.000000 meters along route # Maximum depth: 1870.955671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.868378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134062; longitude = -129.973671; duration = 608; # abortOnTimeout = True; initialDepth = 1820.224954; finalDepth = 1798.868378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.238648 # Actual altitude: 51.238648 # Commanded vehicle depth: 1798.868378 # Seafloor depth: -1848.868378 # 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 2 # Segment length 103.420625 meters # Minimum depth: 1870.224954 meters looking forward 100.000000 meters along route # Maximum depth: 1874.839405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.224954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135178; longitude = -129.972528; duration = 413; initialDepth = 1818.870006; finalDepth = 1820.224954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.41479 # Actual altitude: 50.41479 # Commanded vehicle depth: 1820.224954 # Seafloor depth: -1870.639744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.438239 meters # Minimum depth: 1868.870006 meters looking forward 100.000000 meters along route # Maximum depth: 1877.751365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.870006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135936; longitude = -129.971751; duration = 413; initialDepth = 1827.753123; finalDepth = 1818.870006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9611239999999 # Actual altitude: 50.9611239999999 # Commanded vehicle depth: 1818.870006 # Seafloor depth: -1869.831130 # 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 2 # Segment length 105.949732 meters # Minimum depth: 1877.753123 meters looking forward 100.000000 meters along route # Maximum depth: 1885.188592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.753123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136694; longitude = -129.970975; duration = 423; initialDepth = 1821.793393; finalDepth = 1827.753123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9611239999999 # Actual altitude: 50.9611239999999 # Commanded vehicle depth: 1827.753123 # Seafloor depth: -1877.753123 # 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 2 # Segment length 100.871024 meters # Minimum depth: 1871.793393 meters looking forward 100.000000 meters along route # Maximum depth: 1882.974067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.793393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137471; longitude = -129.970179; duration = 403; initialDepth = 1818.611081; finalDepth = 1821.793393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.583296 # Actual altitude: 60.583296 # Commanded vehicle depth: 1821.793393 # Seafloor depth: -1882.376689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.418705 meters # Minimum depth: 1868.611081 meters looking forward 100.000000 meters along route # Maximum depth: 1876.579636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.611081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138210; longitude = -129.969421; duration = 413; initialDepth = 1815.098659; finalDepth = 1818.611081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.583296 # Actual altitude: 60.583296 # Commanded vehicle depth: 1818.611081 # Seafloor depth: -1871.832957 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.727443 meters # Minimum depth: 1865.098659 meters looking forward 100.000000 meters along route # Maximum depth: 1869.438894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.098659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138968; longitude = -129.968645; duration = 418; initialDepth = 1816.985081; finalDepth = 1815.098659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0394140000001 # Actual altitude: 54.0394140000001 # Commanded vehicle depth: 1815.098659 # Seafloor depth: -1869.138073 # 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 2 # Segment length 102.108526 meters # Minimum depth: 1866.985081 meters looking forward 100.000000 meters along route # Maximum depth: 1899.518635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.985081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139736; longitude = -129.967858; duration = 408; initialDepth = 1847.345640; finalDepth = 1816.985081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0394140000001 # Actual altitude: 54.0394140000001 # Commanded vehicle depth: 1816.985081 # Seafloor depth: -1866.985081 # 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 2 # Segment length 103.417264 meters # Minimum depth: 1897.345640 meters looking forward 100.000000 meters along route # Maximum depth: 1910.025070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.345640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140485; longitude = -129.967091; duration = 413; initialDepth = 1846.356689; finalDepth = 1847.345640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1686440000001 # Actual altitude: 52.1686440000001 # Commanded vehicle depth: 1847.34564 # Seafloor depth: -1899.514284 # 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 2 # Segment length 103.487097 meters # Minimum depth: 1896.356689 meters looking forward 100.000000 meters along route # Maximum depth: 1909.769441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.356689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141243; longitude = -129.966315; duration = 413; initialDepth = 1842.329283; finalDepth = 1846.356689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.412752 # Actual altitude: 63.412752 # Commanded vehicle depth: 1846.356689 # Seafloor depth: -1909.769441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 105.946289 meters # Minimum depth: 1892.329283 meters looking forward 100.000000 meters along route # Maximum depth: 1900.361784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.329283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142001; longitude = -129.965537; duration = 423; initialDepth = 1836.514607; finalDepth = 1842.329283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.412752 # Actual altitude: 63.412752 # Commanded vehicle depth: 1842.329283 # Seafloor depth: -1898.503577 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.815528 meters # Minimum depth: 1886.514607 meters looking forward 100.000000 meters along route # Maximum depth: 1892.280284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.514607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142778; longitude = -129.964742; duration = 403; initialDepth = 1832.806654; finalDepth = 1836.514607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1742939999999 # Actual altitude: 56.1742939999999 # Commanded vehicle depth: 1836.514607 # Seafloor depth: -1892.280284 # 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 103.415344 meters # Minimum depth: 1882.806654 meters looking forward 100.000000 meters along route # Maximum depth: 1886.964910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.806654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143517; longitude = -129.963985; duration = 413; initialDepth = 1824.285058; finalDepth = 1832.806654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7656769999999 # Actual altitude: 55.7656769999999 # Commanded vehicle depth: 1832.806654 # Seafloor depth: -1886.944809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.776259 meters # Minimum depth: 1874.285058 meters looking forward 100.000000 meters along route # Maximum depth: 1884.464862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.285058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144275; longitude = -129.963208; duration = 419; initialDepth = 1830.911526; finalDepth = 1824.285058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1798040000001 # Actual altitude: 60.1798040000001 # Commanded vehicle depth: 1824.285058 # Seafloor depth: -1884.464862 # 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 2 # Segment length 102.052990 meters # Minimum depth: 1880.911526 meters looking forward 100.000000 meters along route # Maximum depth: 1899.182093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.911526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145043; longitude = -129.962421; duration = 408; initialDepth = 1847.984315; finalDepth = 1830.911526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1798040000001 # Actual altitude: 60.1798040000001 # Commanded vehicle depth: 1830.911526 # Seafloor depth: -1880.911526 # 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 2 # Segment length 101.006505 meters # Minimum depth: 1897.984315 meters looking forward 100.000000 meters along route # Maximum depth: 1907.442888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.984315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145791; longitude = -129.961655; duration = 404; initialDepth = 1856.555654; finalDepth = 1847.984315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2854560000001 # Actual altitude: 51.2854560000001 # Commanded vehicle depth: 1847.984315 # Seafloor depth: -1899.269771 # 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 2 # Segment length 100.011414 meters # Minimum depth: 1906.555654 meters looking forward 100.000000 meters along route # Maximum depth: 1912.346988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.555654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146532; longitude = -129.960896; duration = 400; initialDepth = 1839.645309; finalDepth = 1856.555654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.2854560000001 # Actual altitude: 51.2854560000001 # Commanded vehicle depth: 1856.555654 # Seafloor depth: -1906.902846 # 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; } # ####################################################### # # 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 116.498270 meters # Minimum depth: 1889.645309 meters looking forward 100.000000 meters along route # Maximum depth: 1912.317383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.645309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147265; longitude = -129.960145; duration = 465; # abortOnTimeout = True; initialDepth = 1823.313424; finalDepth = 1839.645309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6720740000001 # Actual altitude: 72.6720740000001 # Commanded vehicle depth: 1839.645309 # Seafloor depth: -1912.317383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.801825 meters # Minimum depth: 1873.313424 meters looking forward 100.000000 meters along route # Maximum depth: 1887.782386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.313424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146638; longitude = -129.958936; duration = 415; initialDepth = 1823.679736; finalDepth = 1823.313424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6720740000001 # Actual altitude: 72.6720740000001 # Commanded vehicle depth: 1823.313424 # Seafloor depth: -1887.782386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.070289 meters # Minimum depth: 1873.679736 meters looking forward 100.000000 meters along route # Maximum depth: 1879.760434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.679736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146079; longitude = -129.957859; duration = 408; initialDepth = 1816.973532; finalDepth = 1823.679736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4689620000001 # Actual altitude: 64.4689620000001 # Commanded vehicle depth: 1823.679736 # Seafloor depth: -1875.399543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.056338 meters # Minimum depth: 1866.973532 meters looking forward 100.000000 meters along route # Maximum depth: 1875.850663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.973532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145529; longitude = -129.956801; duration = 424; initialDepth = 1814.894194; finalDepth = 1816.973532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4181880000001 # Actual altitude: 57.4181880000001 # Commanded vehicle depth: 1816.973532 # Seafloor depth: -1874.391720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.393243 meters # Minimum depth: 1864.894194 meters looking forward 100.000000 meters along route # Maximum depth: 1870.339732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.894194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144958; longitude = -129.955700; duration = 417; initialDepth = 1821.062854; finalDepth = 1814.894194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4181880000001 # Actual altitude: 57.4181880000001 # Commanded vehicle depth: 1814.894194 # Seafloor depth: -1867.539531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.482777 meters # Minimum depth: 1871.062854 meters looking forward 100.000000 meters along route # Maximum depth: 1880.880769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.062854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144396; longitude = -129.954617; duration = 405; initialDepth = 1825.300213; finalDepth = 1821.062854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6453369999999 # Actual altitude: 52.6453369999999 # Commanded vehicle depth: 1821.062854 # Seafloor depth: -1871.062854 # 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 1 # Segment length 106.058349 meters # Minimum depth: 1875.300213 meters looking forward 100.000000 meters along route # Maximum depth: 1885.122670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.300213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143850; longitude = -129.953564; duration = 424; initialDepth = 1772.979077; finalDepth = 1825.300213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.471963 # Actual altitude: 55.471963 # Commanded vehicle depth: 1825.300213 # Seafloor depth: -1880.772176 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.984684 meters # Minimum depth: 1822.979077 meters looking forward 100.000000 meters along route # Maximum depth: 1876.976930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.979077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143279; longitude = -129.952464; duration = 419; initialDepth = 1766.693999; finalDepth = 1772.979077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.997853 # Actual altitude: 100 # Commanded vehicle depth: 1772.979077 # Seafloor depth: -1876.976930 # 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 100.895242 meters # Minimum depth: 1816.693999 meters looking forward 100.000000 meters along route # Maximum depth: 1822.487583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.693999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142713; longitude = -129.951375; duration = 403; initialDepth = 1767.541974; finalDepth = 1766.693999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.997853 # Actual altitude: 100 # Commanded vehicle depth: 1766.693999 # Seafloor depth: -1820.302316 # 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 106.060361 meters # Minimum depth: 1817.541974 meters looking forward 100.000000 meters along route # Maximum depth: 1827.803773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.541974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142170; longitude = -129.950328; duration = 424; initialDepth = 1769.310564; finalDepth = 1767.541974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6083169999999 # Actual altitude: 53.6083169999999 # Commanded vehicle depth: 1767.541974 # Seafloor depth: -1819.101523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.576147 meters # Minimum depth: 1819.310564 meters looking forward 100.000000 meters along route # Maximum depth: 1829.014439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.310564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141599; longitude = -129.949228; duration = 422; initialDepth = 1764.242497; finalDepth = 1769.310564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1523189999998 # Actual altitude: 59.1523189999998 # Commanded vehicle depth: 1769.310564 # Seafloor depth: -1828.462883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.307685 meters # Minimum depth: 1814.242497 meters looking forward 100.000000 meters along route # Maximum depth: 1820.169200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.242497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141030; longitude = -129.948133; duration = 401; initialDepth = 1766.008456; finalDepth = 1764.242497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1523189999998 # Actual altitude: 59.1523189999998 # Commanded vehicle depth: 1764.242497 # Seafloor depth: -1818.765128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.043209 meters # Minimum depth: 1816.008456 meters looking forward 100.000000 meters along route # Maximum depth: 1819.016772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.008456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140490; longitude = -129.947092; duration = 416; initialDepth = 1762.833330; finalDepth = 1766.008456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.522631 # Actual altitude: 54.522631 # Commanded vehicle depth: 1766.008456 # Seafloor depth: -1816.730497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.843200 meters # Minimum depth: 1812.833330 meters looking forward 100.000000 meters along route # Maximum depth: 1824.858912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.833330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139930; longitude = -129.946013; duration = 407; initialDepth = 1764.109101; finalDepth = 1762.833330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.857798 # Actual altitude: 54.857798 # Commanded vehicle depth: 1762.83333 # Seafloor depth: -1817.691128 # 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 1 # Segment length 106.063702 meters # Minimum depth: 1814.109101 meters looking forward 100.000000 meters along route # Maximum depth: 1826.104867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.109101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139382; longitude = -129.944956; duration = 424; initialDepth = 1776.018184; finalDepth = 1764.109101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.857798 # Actual altitude: 54.857798 # Commanded vehicle depth: 1764.109101 # Seafloor depth: -1814.594053 # 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 1 # Segment length 104.634673 meters # Minimum depth: 1826.018184 meters looking forward 100.000000 meters along route # Maximum depth: 1837.545348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.018184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138811; longitude = -129.943856; duration = 418; initialDepth = 1789.269419; finalDepth = 1776.018184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.484952 # Actual altitude: 50.484952 # Commanded vehicle depth: 1776.018184 # Seafloor depth: -1826.018184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.255642 meters # Minimum depth: 1839.269419 meters looking forward 100.000000 meters along route # Maximum depth: 1857.714155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.269419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138247; longitude = -129.942771; duration = 405; initialDepth = 1806.835655; finalDepth = 1789.269419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1789.269419 # Seafloor depth: -1839.269419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.065715 meters # Minimum depth: 1856.835655 meters looking forward 100.000000 meters along route # Maximum depth: 1874.978848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.835655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137702; longitude = -129.941720; duration = 424; initialDepth = 1825.477799; finalDepth = 1806.835655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6897219999998 # Actual altitude: 51.6897219999998 # Commanded vehicle depth: 1806.835655 # Seafloor depth: -1858.525377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.226159 meters # Minimum depth: 1875.477799 meters looking forward 100.000000 meters along route # Maximum depth: 1889.140321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.477799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137131; longitude = -129.940620; duration = 420; initialDepth = 1832.859400; finalDepth = 1825.477799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6897219999998 # Actual altitude: 51.6897219999998 # Commanded vehicle depth: 1825.477799 # Seafloor depth: -1875.477799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.668063 meters # Minimum depth: 1882.859400 meters looking forward 100.000000 meters along route # Maximum depth: 1887.578371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.859400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136565; longitude = -129.939529; duration = 402; initialDepth = 1821.165612; finalDepth = 1832.859400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2538529999999 # Actual altitude: 54.2538529999999 # Commanded vehicle depth: 1832.8594 # Seafloor depth: -1887.113253 # 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 1 # Segment length 106.067726 meters # Minimum depth: 1871.165612 meters looking forward 100.000000 meters along route # Maximum depth: 1881.908099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.165612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136023; longitude = -129.938484; duration = 424; initialDepth = 1817.082204; finalDepth = 1821.165612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.742487 # Actual altitude: 60.742487 # Commanded vehicle depth: 1821.165612 # Seafloor depth: -1881.908099 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.897471 meters # Minimum depth: 1867.082204 meters looking forward 100.000000 meters along route # Maximum depth: 1871.304617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1971.503488 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.082204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135452; longitude = -129.937384; duration = 407; initialDepth = 1817.082204; finalDepth = 1817.082204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.742487 # Actual altitude: 60.742487 # Commanded vehicle depth: 1817.082204 # Seafloor depth: -1871.230906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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: 54.148702 # Sonar parameter altitude: 54.148702 # Commanded vehicle depth: 1817.082204 # Seafloor depth: -1867.803040 # 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 = 31; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 32.49; 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 101.897471 meters # Minimum depth: 1867.082204 meters looking forward 100.000000 meters along route # Maximum depth: 1871.304617 meters looking forward 100.000000 meters along route # Vehicle depth: 1817.082204 meters behavior waypoint { latitude = 46.134903; longitude = -129.936327; duration = 3634; depth = 1817.082204; 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 1817.082204 meters set by local depth and desired altitude behavior descend { duration = 6716; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1807.803040; 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 101.897471 meters # Minimum depth: 1867.082204 meters looking forward 100.000000 meters along route # Maximum depth: 1871.304617 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 46.134903; longitude = -129.936327; 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 = 270.0; 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 = 270.0; 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 = 31; 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; } # ####################################################### ####################################################### ####################################################### #######################################################