# 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: 7A_AxialMidNrift_2v2.rte # Mission File: 7A_AxialMidNrift_2v2.cfg # Distance: 91374.537511 (m) # Estimated Time: 63545 (s) 17.651 (hr) # Abort Time: 63981 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 2618 (s) # Way Points: 60 # Route Points: 873 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 33 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.6 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 38 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1769.283808 (m) # Abort Vehicle Depth: 1794.283808 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1665.141927 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 -129.984425 46.062663 -1725.141927 0.000000 3 # 1 -129.979599 46.068840 -1763.328451 781.294919 3 # 2 -129.980650 46.067532 -1749.841309 947.852270 3 # 3 -129.981358 46.066631 -1742.613932 1061.939413 5 # 4 -129.982495 46.065108 -1731.266927 1252.627599 5 # 5 -129.983331 46.064079 -1737.237142 1384.051068 3 # 6 -129.984125 46.063028 -1729.502604 1515.978623 3 # 7 -129.986505 46.067532 -1745.152995 2049.256405 3 # 8 -129.980007 46.065087 -1717.458659 2620.631206 3 # 9 -130.010870 46.076819 -1743.694010 5340.384286 3 # 10 -129.996522 46.094578 -1777.707794 7604.192609 3 # 11 -129.994870 46.093977 -1784.205719 7748.309181 3 # 12 -130.018141 46.064851 -1724.485504 11451.324124 3 # 13 -130.016425 46.064186 -1710.333801 11603.235964 3 # 14 -129.993197 46.093334 -1767.231323 15306.782914 3 # 15 -129.991524 46.092690 -1744.454132 15454.595682 3 # 16 -130.021358 46.055199 -1671.983643 20216.706211 3 # 17 -130.019707 46.054534 -1671.242920 20364.264820 3 # 18 -129.989787 46.092111 -1742.403809 25137.968339 3 # 19 -129.988093 46.091425 -1745.288544 25289.499334 3 # 20 -130.016254 46.056130 -1665.614044 29775.468138 3 # 21 -130.014559 46.055474 -1665.910919 29925.492296 3 # 22 -129.986420 46.090717 -1742.922882 34405.595360 3 # 23 -129.984704 46.090052 -1743.930115 34557.452473 3 # 24 -130.012865 46.054817 -1669.133575 39037.616486 3 # 25 -130.011171 46.054161 -1668.817200 39187.575664 3 # 26 -129.982966 46.089345 -1728.411560 43664.456763 3 # 27 -129.981294 46.088701 -1741.262177 43812.209802 3 # 28 -130.009476 46.053505 -1667.918579 48289.400139 3 # 29 -130.007782 46.052848 -1667.941986 48439.415988 3 # 30 -129.979535 46.088143 -1759.295532 52928.672835 3 # 31 -129.977926 46.087436 -1744.988739 53075.801906 3 # 32 -130.005723 46.052625 -1676.573486 57501.149104 3 # 33 -130.004007 46.051961 -1677.233032 57653.032179 3 # 34 -129.976253 46.086792 -1742.573761 62078.718882 3 # 35 -129.974537 46.086063 -1748.497833 62234.168426 3 # 36 -130.001669 46.052111 -1683.031158 66551.116080 3 # 37 -129.999996 46.051467 -1682.055847 66699.013092 3 # 38 -129.972907 46.085505 -1754.085022 71022.711457 3 # 39 -129.971192 46.084840 -1780.428101 71174.511616 3 # 40 -129.997187 46.052218 -1676.668671 75319.573869 3 # 41 -129.995514 46.051574 -1682.450745 75467.470566 3 # 42 -129.969519 46.084261 -1779.617676 79618.859779 3 # 43 -129.967781 46.083554 -1777.215973 79774.520767 3 # 44 -129.980050 46.068197 -1752.369751 81726.961572 3 # 45 -129.978441 46.067553 -1724.263367 81870.513629 3 # 46 -129.966173 46.082974 -1757.381256 83829.139798 3 # 47 -129.964564 46.082331 -1753.811646 83972.607499 3 # 48 -129.970398 46.074760 -1740.494781 84927.194976 3 # 49 -129.968789 46.074116 -1741.300323 85070.734088 3 # 50 -129.962870 46.081516 -1758.717865 86011.801359 3 # 51 -129.961132 46.080937 -1742.145996 86160.796878 3 # 52 -129.967052 46.073473 -1714.638733 87108.123575 3 # 53 -129.965401 46.072808 -1718.738281 87255.644655 3 # 54 -129.959417 46.080272 -1732.284454 88205.375276 3 # 55 -129.957679 46.079629 -1711.719147 88357.579378 3 # 56 -129.963663 46.072165 -1724.051270 89307.312303 3 # 57 -129.961990 46.071521 -1724.889893 89455.167616 3 # 58 -129.958494 46.075918 -1677.171570 90013.560315 3 # 59 -129.975996 46.077205 -1745.337494 91374.537511 4 # # A total of 873 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 = 1769.283808; abortDepth = 1794.283808; minAltitude = 50.000000; abortAltitude = 12.000000; deltaDepthRestart = 38.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2618; 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 59 # Segment length 156.783405 meters # Minimum depth: 1745.337494 meters looking forward 100.000000 meters along route # Maximum depth: 1774.889183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.337494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077205; longitude = -129.975996; duration = 627; # abortOnTimeout = True; initialDepth = 1718.583445; finalDepth = 1695.337494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1695.337494 # Seafloor depth: -1745.337494 # 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 59 # Segment length 100.068881 meters # Minimum depth: 1768.583445 meters looking forward 100.000000 meters along route # Maximum depth: 1784.569826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.583445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077057; longitude = -129.973980; duration = 400; initialDepth = 1710.830997; finalDepth = 1718.583445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7119660000001 # Actual altitude: 51.7119660000001 # Commanded vehicle depth: 1718.583445 # Seafloor depth: -1770.295411 # 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 59 # Segment length 100.069033 meters # Minimum depth: 1760.830997 meters looking forward 100.000000 meters along route # Maximum depth: 1777.797204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.830997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076962; longitude = -129.972693; duration = 400; initialDepth = 1683.972119; finalDepth = 1710.830997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5016009999999 # Actual altitude: 66.5016009999999 # Commanded vehicle depth: 1710.830997 # Seafloor depth: -1777.332598 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.069183 meters # Minimum depth: 1733.972119 meters looking forward 100.000000 meters along route # Maximum depth: 1759.189789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.972119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076867; longitude = -129.971406; duration = 400; initialDepth = 1690.468556; finalDepth = 1683.972119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.21767 # Actual altitude: 75.21767 # Commanded vehicle depth: 1683.972119 # Seafloor depth: -1759.189789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.069333 meters # Minimum depth: 1740.468556 meters looking forward 100.000000 meters along route # Maximum depth: 1754.916810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.468556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076773; longitude = -129.970119; duration = 400; initialDepth = 1682.018225; finalDepth = 1690.468556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.21767 # Actual altitude: 75.21767 # Commanded vehicle depth: 1690.468556 # Seafloor depth: -1743.881425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.069485 meters # Minimum depth: 1732.018225 meters looking forward 100.000000 meters along route # Maximum depth: 1739.961876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.018225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076678; longitude = -129.968832; duration = 400; initialDepth = 1681.649965; finalDepth = 1682.018225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.943651 # Actual altitude: 57.943651 # Commanded vehicle depth: 1682.018225 # Seafloor depth: -1739.961876 # 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 59 # Segment length 100.069636 meters # Minimum depth: 1731.649965 meters looking forward 100.000000 meters along route # Maximum depth: 1743.361100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.649965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076584; longitude = -129.967545; duration = 400; initialDepth = 1693.889339; finalDepth = 1681.649965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7323079999999 # Actual altitude: 58.7323079999999 # Commanded vehicle depth: 1681.649965 # Seafloor depth: -1740.382273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.069786 meters # Minimum depth: 1743.889339 meters looking forward 100.000000 meters along route # Maximum depth: 1752.590082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.889339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076489; longitude = -129.966258; duration = 400; initialDepth = 1677.413606; finalDepth = 1693.889339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7323079999999 # Actual altitude: 58.7323079999999 # Commanded vehicle depth: 1693.889339 # Seafloor depth: -1743.889339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.069937 meters # Minimum depth: 1727.413606 meters looking forward 100.000000 meters along route # Maximum depth: 1749.903703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.413606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076394; longitude = -129.964972; duration = 400; initialDepth = 1680.373176; finalDepth = 1677.413606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4900969999999 # Actual altitude: 72.4900969999999 # Commanded vehicle depth: 1677.413606 # Seafloor depth: -1749.903703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.070088 meters # Minimum depth: 1730.373176 meters looking forward 100.000000 meters along route # Maximum depth: 1736.837332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.373176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076300; longitude = -129.963685; duration = 400; initialDepth = 1650.373187; finalDepth = 1680.373176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4900969999999 # Actual altitude: 72.4900969999999 # Commanded vehicle depth: 1680.373176 # Seafloor depth: -1731.360178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.070239 meters # Minimum depth: 1700.373187 meters looking forward 100.000000 meters along route # Maximum depth: 1727.542811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.373187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076205; longitude = -129.962398; duration = 400; initialDepth = 1633.429660; finalDepth = 1650.373187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1696240000001 # Actual altitude: 77.1696240000001 # Commanded vehicle depth: 1650.373187 # Seafloor depth: -1727.542811 # 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 59 # Segment length 100.070390 meters # Minimum depth: 1683.429660 meters looking forward 100.000000 meters along route # Maximum depth: 1697.507295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.429660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076110; longitude = -129.961111; duration = 400; initialDepth = 1628.158812; finalDepth = 1633.429660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1696240000001 # Actual altitude: 77.1696240000001 # Commanded vehicle depth: 1633.42966 # Seafloor depth: -1697.507295 # 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 59 # Segment length 103.427800 meters # Minimum depth: 1678.158812 meters looking forward 100.000000 meters along route # Maximum depth: 1700.677134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.158812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076016; longitude = -129.959824; duration = 413; initialDepth = 1623.772056; finalDepth = 1628.158812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.1486940000002 # Actual altitude: 65.1486940000002 # Commanded vehicle depth: 1628.158812 # Seafloor depth: -1693.307506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.09; 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 58 # Segment length 140.499202 meters # Minimum depth: 1673.772056 meters looking forward 100.000000 meters along route # Maximum depth: 1683.625913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.772056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075918; longitude = -129.958494; duration = 561; # abortOnTimeout = True; initialDepth = 1641.392412; finalDepth = 1623.772056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1486940000002 # Actual altitude: 65.1486940000002 # Commanded vehicle depth: 1623.772056 # Seafloor depth: -1677.171570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 102.772289 meters # Minimum depth: 1691.392412 meters looking forward 100.000000 meters along route # Maximum depth: 1721.255440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.392412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074812; longitude = -129.959374; duration = 411; initialDepth = 1672.128214; finalDepth = 1641.392412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.399514 # Actual altitude: 53.399514 # Commanded vehicle depth: 1641.392412 # Seafloor depth: -1691.392412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.772639 meters # Minimum depth: 1722.128214 meters looking forward 100.000000 meters along route # Maximum depth: 1727.819994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.128214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074002; longitude = -129.960017; duration = 411; initialDepth = 1674.027386; finalDepth = 1672.128214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.128214 # Seafloor depth: -1722.128214 # 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 58 # Segment length 102.772990 meters # Minimum depth: 1724.027386 meters looking forward 100.000000 meters along route # Maximum depth: 1724.857189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.027386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073193; longitude = -129.960661; duration = 411; initialDepth = 1674.283009; finalDepth = 1674.027386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3390569999999 # Actual altitude: 50.3390569999999 # Commanded vehicle depth: 1674.027386 # Seafloor depth: -1724.366443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 109.575579 meters # Minimum depth: 1724.283009 meters looking forward 100.000000 meters along route # Maximum depth: 1728.746683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.283009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072384; longitude = -129.961304; duration = 438; initialDepth = 1674.841122; finalDepth = 1674.283009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.3390569999999 # Actual altitude: 50.3390569999999 # Commanded vehicle depth: 1674.283009 # Seafloor depth: -1724.283009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 57 # Segment length 147.855313 meters # Minimum depth: 1724.841122 meters looking forward 100.000000 meters along route # Maximum depth: 1733.036283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.841122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071521; longitude = -129.961990; duration = 591; # abortOnTimeout = True; initialDepth = 1659.649194; finalDepth = 1674.841122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.048771 # Actual altitude: 50.048771 # Commanded vehicle depth: 1674.841122 # Seafloor depth: -1724.889893 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 56 # Segment length 129.315494 meters # Minimum depth: 1709.649194 meters looking forward 100.000000 meters along route # Maximum depth: 1725.744254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.649194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072165; longitude = -129.963663; duration = 517; # abortOnTimeout = True; initialDepth = 1665.321226; finalDepth = 1659.649194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4020759999999 # Actual altitude: 64.4020759999999 # Commanded vehicle depth: 1659.649194 # Seafloor depth: -1724.051270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 102.122909 meters # Minimum depth: 1715.321226 meters looking forward 100.000000 meters along route # Maximum depth: 1724.305273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.321226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073181; longitude = -129.962848; duration = 408; initialDepth = 1668.750830; finalDepth = 1665.321226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4020759999999 # Actual altitude: 64.4020759999999 # Commanded vehicle depth: 1665.321226 # Seafloor depth: -1715.321226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 102.122560 meters # Minimum depth: 1718.750830 meters looking forward 100.000000 meters along route # Maximum depth: 1725.513081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.750830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073984; longitude = -129.962205; duration = 408; initialDepth = 1655.391604; finalDepth = 1668.750830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3029750000001 # Actual altitude: 55.3029750000001 # Commanded vehicle depth: 1668.75083 # Seafloor depth: -1724.053805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 102.122210 meters # Minimum depth: 1705.391604 meters looking forward 100.000000 meters along route # Maximum depth: 1721.263452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.391604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074786; longitude = -129.961561; duration = 408; initialDepth = 1631.935556; finalDepth = 1655.391604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.871848 # Actual altitude: 65.871848 # Commanded vehicle depth: 1655.391604 # Seafloor depth: -1721.263452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 102.121860 meters # Minimum depth: 1681.935556 meters looking forward 100.000000 meters along route # Maximum depth: 1703.072652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.935556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075589; longitude = -129.960918; duration = 408; initialDepth = 1620.959449; finalDepth = 1631.935556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1370960000002 # Actual altitude: 71.1370960000002 # Commanded vehicle depth: 1631.935556 # Seafloor depth: -1703.072652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 102.121510 meters # Minimum depth: 1670.959449 meters looking forward 100.000000 meters along route # Maximum depth: 1680.041112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.959449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076392; longitude = -129.960274; duration = 408; initialDepth = 1629.433803; finalDepth = 1620.959449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1370960000002 # Actual altitude: 71.1370960000002 # Commanded vehicle depth: 1620.959449 # Seafloor depth: -1676.261967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 102.121160 meters # Minimum depth: 1679.433803 meters looking forward 100.000000 meters along route # Maximum depth: 1719.286320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.433803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077194; longitude = -129.959631; duration = 408; initialDepth = 1666.602865; finalDepth = 1629.433803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.302518 # Actual altitude: 55.302518 # Commanded vehicle depth: 1629.433803 # Seafloor depth: -1679.433803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 102.120810 meters # Minimum depth: 1718.036128 meters looking forward 100.000000 meters along route # Maximum depth: 1722.664644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.602865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077997; longitude = -129.958988; duration = 408; initialDepth = 1659.481884; finalDepth = 1666.602865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6422041598867 # Actual altitude: 54.6422041598867 # Commanded vehicle depth: 1666.60286484011 # Seafloor depth: -1721.245069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 105.564412 meters # Minimum depth: 1709.481884 meters looking forward 100.000000 meters along route # Maximum depth: 1721.752779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.481884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078799; longitude = -129.958344; duration = 422; initialDepth = 1661.719147; finalDepth = 1659.481884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.2708949999999 # Actual altitude: 62.2708949999999 # Commanded vehicle depth: 1659.481884 # Seafloor depth: -1721.752779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.36; 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 55 # Segment length 152.204102 meters # Minimum depth: 1711.719147 meters looking forward 100.000000 meters along route # Maximum depth: 1732.137649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.719147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079629; longitude = -129.957679; duration = 608; # abortOnTimeout = True; initialDepth = 1677.285735; finalDepth = 1661.719147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.2708949999999 # Actual altitude: 62.2708949999999 # Commanded vehicle depth: 1661.719147 # Seafloor depth: -1711.719147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.36; 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 54 # Segment length 125.875826 meters # Minimum depth: 1727.285735 meters looking forward 100.000000 meters along route # Maximum depth: 1732.809080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.285735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080272; longitude = -129.959417; duration = 503; # abortOnTimeout = True; initialDepth = 1679.339743; finalDepth = 1677.285735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9987190000002 # Actual altitude: 54.9987190000002 # Commanded vehicle depth: 1677.285735 # Seafloor depth: -1732.284454 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 102.120632 meters # Minimum depth: 1729.339743 meters looking forward 100.000000 meters along route # Maximum depth: 1744.873522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.339743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079283; longitude = -129.960210; duration = 408; initialDepth = 1682.620789; finalDepth = 1679.339743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9987190000002 # Actual altitude: 54.9987190000002 # Commanded vehicle depth: 1679.339743 # Seafloor depth: -1729.339743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.120981 meters # Minimum depth: 1732.620789 meters looking forward 100.000000 meters along route # Maximum depth: 1743.013857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.620789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078480; longitude = -129.960854; duration = 408; initialDepth = 1669.055980; finalDepth = 1682.620789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4719889999999 # Actual altitude: 59.4719889999999 # Commanded vehicle depth: 1682.620789 # Seafloor depth: -1742.092778 # 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 54 # Segment length 102.121332 meters # Minimum depth: 1719.055980 meters looking forward 100.000000 meters along route # Maximum depth: 1730.825273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.055980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077678; longitude = -129.961497; duration = 408; initialDepth = 1669.001381; finalDepth = 1669.055980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7692929999998 # Actual altitude: 61.7692929999998 # Commanded vehicle depth: 1669.05598 # Seafloor depth: -1730.825273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.121682 meters # Minimum depth: 1719.001381 meters looking forward 100.000000 meters along route # Maximum depth: 1733.121375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.001381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076875; longitude = -129.962140; duration = 408; initialDepth = 1676.622813; finalDepth = 1669.001381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7692929999998 # Actual altitude: 61.7692929999998 # Commanded vehicle depth: 1669.001381 # Seafloor depth: -1723.595975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.122031 meters # Minimum depth: 1726.622813 meters looking forward 100.000000 meters along route # Maximum depth: 1736.057202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.622813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076072; longitude = -129.962784; duration = 408; initialDepth = 1677.034764; finalDepth = 1676.622813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5945939999999 # Actual altitude: 54.5945939999999 # Commanded vehicle depth: 1676.622813 # Seafloor depth: -1726.824957 # 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 54 # Segment length 102.122382 meters # Minimum depth: 1727.034764 meters looking forward 100.000000 meters along route # Maximum depth: 1734.777199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.034764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075270; longitude = -129.963427; duration = 408; initialDepth = 1664.367441; finalDepth = 1677.034764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.357559 # Actual altitude: 57.357559 # Commanded vehicle depth: 1677.034764 # Seafloor depth: -1734.392323 # 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 54 # Segment length 102.122732 meters # Minimum depth: 1714.367441 meters looking forward 100.000000 meters along route # Maximum depth: 1724.853961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.367441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074467; longitude = -129.964071; duration = 408; initialDepth = 1659.873290; finalDepth = 1664.367441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4865199999999 # Actual altitude: 60.4865199999999 # Commanded vehicle depth: 1664.367441 # Seafloor depth: -1724.853961 # 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 54 # Segment length 109.003023 meters # Minimum depth: 1709.873290 meters looking forward 100.000000 meters along route # Maximum depth: 1719.494016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.873290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073665; longitude = -129.964714; duration = 436; initialDepth = 1664.985154; finalDepth = 1659.873290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.4865199999999 # Actual altitude: 60.4865199999999 # Commanded vehicle depth: 1659.87329 # Seafloor depth: -1713.858525 # 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; } # ####################################################### # # 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 53 # Segment length 147.521080 meters # Minimum depth: 1714.985154 meters looking forward 100.000000 meters along route # Maximum depth: 1724.728587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.985154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072808; longitude = -129.965401; duration = 590; # abortOnTimeout = True; initialDepth = 1651.757453; finalDepth = 1664.985154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.9852350000001 # Actual altitude: 53.9852350000001 # Commanded vehicle depth: 1664.985154 # Seafloor depth: -1718.738281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 52 # Segment length 116.686960 meters # Minimum depth: 1701.757453 meters looking forward 100.000000 meters along route # Maximum depth: 1728.464784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.757453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073473; longitude = -129.967052; duration = 466; # abortOnTimeout = True; initialDepth = 1679.388950; finalDepth = 1651.757453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8812800000001 # Actual altitude: 62.8812800000001 # Commanded vehicle depth: 1651.757453 # Seafloor depth: -1714.638733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 102.965430 meters # Minimum depth: 1729.388950 meters looking forward 100.000000 meters along route # Maximum depth: 1743.204874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.388950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074392; longitude = -129.966323; duration = 411; initialDepth = 1690.001258; finalDepth = 1679.388950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8812800000001 # Actual altitude: 62.8812800000001 # Commanded vehicle depth: 1679.38895 # Seafloor depth: -1729.388950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.965079 meters # Minimum depth: 1740.001258 meters looking forward 100.000000 meters along route # Maximum depth: 1749.223755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.001258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075204; longitude = -129.965679; duration = 411; initialDepth = 1695.213975; finalDepth = 1690.001258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0717440000001 # Actual altitude: 51.0717440000001 # Commanded vehicle depth: 1690.001258 # Seafloor depth: -1741.073002 # 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 52 # Segment length 102.964729 meters # Minimum depth: 1745.213975 meters looking forward 100.000000 meters along route # Maximum depth: 1750.422074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.213975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076015; longitude = -129.965036; duration = 411; initialDepth = 1692.603580; finalDepth = 1695.213975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2080990000002 # Actual altitude: 55.2080990000002 # Commanded vehicle depth: 1695.213975 # Seafloor depth: -1750.422074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.964378 meters # Minimum depth: 1742.603580 meters looking forward 100.000000 meters along route # Maximum depth: 1747.274879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.603580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076826; longitude = -129.964392; duration = 411; initialDepth = 1682.525604; finalDepth = 1692.603580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2080990000002 # Actual altitude: 55.2080990000002 # Commanded vehicle depth: 1692.60358 # Seafloor depth: -1745.939726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.964027 meters # Minimum depth: 1732.525604 meters looking forward 100.000000 meters along route # Maximum depth: 1743.314462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.525604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077637; longitude = -129.963749; duration = 411; initialDepth = 1682.599200; finalDepth = 1682.525604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7888580000001 # Actual altitude: 60.7888580000001 # Commanded vehicle depth: 1682.525604 # Seafloor depth: -1743.314462 # 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 52 # Segment length 102.963677 meters # Minimum depth: 1732.599200 meters looking forward 100.000000 meters along route # Maximum depth: 1751.525598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.599200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078449; longitude = -129.963106; duration = 411; initialDepth = 1694.494221; finalDepth = 1682.599200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7888580000001 # Actual altitude: 60.7888580000001 # Commanded vehicle depth: 1682.5992 # Seafloor depth: -1732.599200 # 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 52 # Segment length 102.963326 meters # Minimum depth: 1744.494221 meters looking forward 100.000000 meters along route # Maximum depth: 1756.997075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.494221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079260; longitude = -129.962462; duration = 411; initialDepth = 1692.087773; finalDepth = 1694.494221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5027170000001 # Actual altitude: 59.5027170000001 # Commanded vehicle depth: 1694.494221 # Seafloor depth: -1753.996938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 109.889091 meters # Minimum depth: 1742.087773 meters looking forward 100.000000 meters along route # Maximum depth: 1745.247752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.087773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080071; longitude = -129.961819; duration = 439; initialDepth = 1692.145996; finalDepth = 1692.087773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.5027170000001 # Actual altitude: 59.5027170000001 # Commanded vehicle depth: 1692.087773 # Seafloor depth: -1744.716337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 51 # Segment length 148.995519 meters # Minimum depth: 1742.145996 meters looking forward 100.000000 meters along route # Maximum depth: 1762.963749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.145996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080937; longitude = -129.961132; duration = 595; # abortOnTimeout = True; initialDepth = 1690.670670; finalDepth = 1692.145996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.6285640000001 # Actual altitude: 52.6285640000001 # Commanded vehicle depth: 1692.145996 # Seafloor depth: -1742.145996 # 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; } # ####################################################### # # 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 50 # Segment length 119.298838 meters # Minimum depth: 1740.670670 meters looking forward 100.000000 meters along route # Maximum depth: 1758.717865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.670670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081516; longitude = -129.962870; duration = 477; # abortOnTimeout = True; initialDepth = 1680.009317; finalDepth = 1690.670670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0471950000001 # Actual altitude: 68.0471950000001 # Commanded vehicle depth: 1690.67067 # Seafloor depth: -1758.717865 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 102.300310 meters # Minimum depth: 1730.009317 meters looking forward 100.000000 meters along route # Maximum depth: 1739.945655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.009317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080578; longitude = -129.963620; duration = 409; initialDepth = 1686.809897; finalDepth = 1680.009317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0471950000001 # Actual altitude: 68.0471950000001 # Commanded vehicle depth: 1680.009317 # Seafloor depth: -1739.945655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 102.300659 meters # Minimum depth: 1736.809897 meters looking forward 100.000000 meters along route # Maximum depth: 1741.086586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.809897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079773; longitude = -129.964264; duration = 409; initialDepth = 1683.721464; finalDepth = 1686.809897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.936338 # Actual altitude: 59.936338 # Commanded vehicle depth: 1686.809897 # Seafloor depth: -1739.105610 # 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 50 # Segment length 102.301010 meters # Minimum depth: 1733.721464 meters looking forward 100.000000 meters along route # Maximum depth: 1736.325929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.721464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078969; longitude = -129.964907; duration = 409; initialDepth = 1688.940548; finalDepth = 1683.721464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.295713 # Actual altitude: 52.295713 # Commanded vehicle depth: 1683.721464 # Seafloor depth: -1735.439839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 102.301361 meters # Minimum depth: 1738.940548 meters looking forward 100.000000 meters along route # Maximum depth: 1748.843715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.940548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078165; longitude = -129.965551; duration = 409; initialDepth = 1688.364039; finalDepth = 1688.940548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7183749999999 # Actual altitude: 51.7183749999999 # Commanded vehicle depth: 1688.940548 # Seafloor depth: -1738.940548 # 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 50 # Segment length 102.301710 meters # Minimum depth: 1738.364039 meters looking forward 100.000000 meters along route # Maximum depth: 1749.669274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.364039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077360; longitude = -129.966194; duration = 409; initialDepth = 1678.820383; finalDepth = 1688.364039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8463819999999 # Actual altitude: 60.8463819999999 # Commanded vehicle depth: 1688.364039 # Seafloor depth: -1749.210421 # 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 50 # Segment length 102.302061 meters # Minimum depth: 1728.820383 meters looking forward 100.000000 meters along route # Maximum depth: 1735.392163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.820383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076556; longitude = -129.966838; duration = 409; initialDepth = 1682.561881; finalDepth = 1678.820383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8463819999999 # Actual altitude: 60.8463819999999 # Commanded vehicle depth: 1678.820383 # Seafloor depth: -1734.576564 # 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 50 # Segment length 102.302410 meters # Minimum depth: 1732.561881 meters looking forward 100.000000 meters along route # Maximum depth: 1739.611594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.561881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075751; longitude = -129.967481; duration = 409; initialDepth = 1688.518961; finalDepth = 1682.561881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.756181 # Actual altitude: 55.756181 # Commanded vehicle depth: 1682.561881 # Seafloor depth: -1732.561881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 105.658912 meters # Minimum depth: 1738.518961 meters looking forward 100.000000 meters along route # Maximum depth: 1741.710343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.518961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074947; longitude = -129.968124; duration = 422; initialDepth = 1689.015369; finalDepth = 1688.518961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.995451 # Actual altitude: 50.995451 # Commanded vehicle depth: 1688.518961 # Seafloor depth: -1739.514412 # 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; } # ####################################################### # # 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 49 # Segment length 143.539112 meters # Minimum depth: 1739.015369 meters looking forward 100.000000 meters along route # Maximum depth: 1745.082550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.015369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074116; longitude = -129.968789; duration = 574; # abortOnTimeout = True; initialDepth = 1690.494781; finalDepth = 1689.015369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.284954 # Actual altitude: 52.284954 # Commanded vehicle depth: 1689.015369 # Seafloor depth: -1741.300323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 48 # Segment length 108.803277 meters # Minimum depth: 1740.494781 meters looking forward 100.000000 meters along route # Maximum depth: 1749.536222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.494781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074760; longitude = -129.970398; duration = 435; # abortOnTimeout = True; initialDepth = 1694.037742; finalDepth = 1690.494781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.284954 # Actual altitude: 52.284954 # Commanded vehicle depth: 1690.494781 # Seafloor depth: -1740.494781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 105.284067 meters # Minimum depth: 1744.037742 meters looking forward 100.000000 meters along route # Maximum depth: 1757.459985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.037742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075623; longitude = -129.969733; duration = 421; initialDepth = 1689.807974; finalDepth = 1694.037742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.250002 # Actual altitude: 57.250002 # Commanded vehicle depth: 1694.037742 # Seafloor depth: -1751.287744 # 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 48 # Segment length 105.283714 meters # Minimum depth: 1739.807974 meters looking forward 100.000000 meters along route # Maximum depth: 1749.712621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.807974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076458; longitude = -129.969090; duration = 421; initialDepth = 1702.443312; finalDepth = 1689.807974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.250002 # Actual altitude: 57.250002 # Commanded vehicle depth: 1689.807974 # Seafloor depth: -1742.375705 # 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 48 # Segment length 105.283361 meters # Minimum depth: 1752.443312 meters looking forward 100.000000 meters along route # Maximum depth: 1761.046378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.443312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077293; longitude = -129.968446; duration = 421; initialDepth = 1707.658696; finalDepth = 1702.443312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5677309999999 # Actual altitude: 52.5677309999999 # Commanded vehicle depth: 1702.443312 # Seafloor depth: -1752.443312 # 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 48 # Segment length 105.283009 meters # Minimum depth: 1757.658696 meters looking forward 100.000000 meters along route # Maximum depth: 1767.171047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.658696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078128; longitude = -129.967803; duration = 421; initialDepth = 1709.783039; finalDepth = 1707.658696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8835220000001 # Actual altitude: 51.8835220000001 # Commanded vehicle depth: 1707.658696 # Seafloor depth: -1759.542218 # 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 48 # Segment length 105.282656 meters # Minimum depth: 1759.783039 meters looking forward 100.000000 meters along route # Maximum depth: 1764.210695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.783039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078963; longitude = -129.967159; duration = 421; initialDepth = 1696.435836; finalDepth = 1709.783039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.777748 # Actual altitude: 53.777748 # Commanded vehicle depth: 1709.783039 # Seafloor depth: -1763.560787 # 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 48 # Segment length 105.282303 meters # Minimum depth: 1746.435836 meters looking forward 100.000000 meters along route # Maximum depth: 1761.499149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.435836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079798; longitude = -129.966516; duration = 421; initialDepth = 1694.157529; finalDepth = 1696.435836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0633129999999 # Actual altitude: 65.0633129999999 # Commanded vehicle depth: 1696.435836 # Seafloor depth: -1761.499149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 105.281951 meters # Minimum depth: 1744.157529 meters looking forward 100.000000 meters along route # Maximum depth: 1751.633593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.157529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080633; longitude = -129.965872; duration = 421; initialDepth = 1695.386423; finalDepth = 1694.157529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0633129999999 # Actual altitude: 65.0633129999999 # Commanded vehicle depth: 1694.157529 # Seafloor depth: -1744.475448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 108.803139 meters # Minimum depth: 1745.386423 meters looking forward 100.000000 meters along route # Maximum depth: 1752.951412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.386423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081468; longitude = -129.965229; duration = 435; initialDepth = 1699.524527; finalDepth = 1695.386423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.2763 # Actual altitude: 56.2763 # Commanded vehicle depth: 1695.386423 # Seafloor depth: -1751.662723 # 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; } # ####################################################### # # 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 47 # Segment length 143.467701 meters # Minimum depth: 1749.524527 meters looking forward 100.000000 meters along route # Maximum depth: 1758.139720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.524527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082331; longitude = -129.964564; duration = 573; # abortOnTimeout = True; initialDepth = 1707.381256; finalDepth = 1699.524527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.2763 # Actual altitude: 56.2763 # Commanded vehicle depth: 1699.524527 # Seafloor depth: -1753.811646 # 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; } # ####################################################### # # 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 46 # Segment length 106.097046 meters # Minimum depth: 1757.381256 meters looking forward 100.000000 meters along route # Maximum depth: 1768.527890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.381256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082974; longitude = -129.966173; duration = 424; # abortOnTimeout = True; initialDepth = 1706.105274; finalDepth = 1707.381256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2871190000001 # Actual altitude: 54.2871190000001 # Commanded vehicle depth: 1707.381256 # Seafloor depth: -1757.381256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 102.724706 meters # Minimum depth: 1756.105274 meters looking forward 100.000000 meters along route # Maximum depth: 1761.110081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.105274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082139; longitude = -129.966838; duration = 410; initialDepth = 1706.405362; finalDepth = 1706.105274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.004807 # Actual altitude: 55.004807 # Commanded vehicle depth: 1706.105274 # Seafloor depth: -1761.110081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.725057 meters # Minimum depth: 1756.405362 meters looking forward 100.000000 meters along route # Maximum depth: 1764.657766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.405362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081330; longitude = -129.967481; duration = 410; initialDepth = 1696.436146; finalDepth = 1706.405362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.004807 # Actual altitude: 55.004807 # Commanded vehicle depth: 1706.405362 # Seafloor depth: -1757.538274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.725407 meters # Minimum depth: 1746.436146 meters looking forward 100.000000 meters along route # Maximum depth: 1762.372921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.436146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080521; longitude = -129.968124; duration = 410; initialDepth = 1687.468734; finalDepth = 1696.436146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.407539 # Actual altitude: 61.407539 # Commanded vehicle depth: 1696.436146 # Seafloor depth: -1757.843685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.725757 meters # Minimum depth: 1737.468734 meters looking forward 100.000000 meters along route # Maximum depth: 1746.100617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.468734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079712; longitude = -129.968768; duration = 410; initialDepth = 1683.409603; finalDepth = 1687.468734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.407539 # Actual altitude: 61.407539 # Commanded vehicle depth: 1687.468734 # Seafloor depth: -1746.100617 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.726109 meters # Minimum depth: 1733.409603 meters looking forward 100.000000 meters along route # Maximum depth: 1739.570387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.409603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078903; longitude = -129.969411; duration = 410; initialDepth = 1683.789962; finalDepth = 1683.409603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.631883 # Actual altitude: 58.631883 # Commanded vehicle depth: 1683.409603 # Seafloor depth: -1739.570387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.726459 meters # Minimum depth: 1733.789962 meters looking forward 100.000000 meters along route # Maximum depth: 1749.233899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.789962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078095; longitude = -129.970055; duration = 410; initialDepth = 1695.591205; finalDepth = 1683.789962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1607839999999 # Actual altitude: 56.1607839999999 # Commanded vehicle depth: 1683.789962 # Seafloor depth: -1734.160558 # 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 46 # Segment length 102.726809 meters # Minimum depth: 1745.591205 meters looking forward 100.000000 meters along route # Maximum depth: 1751.549286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.591205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077286; longitude = -129.970698; duration = 410; initialDepth = 1699.839479; finalDepth = 1695.591205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.111013 # Actual altitude: 53.111013 # Commanded vehicle depth: 1695.591205 # Seafloor depth: -1748.702218 # 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 46 # Segment length 102.727160 meters # Minimum depth: 1749.839479 meters looking forward 100.000000 meters along route # Maximum depth: 1752.877269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.839479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076477; longitude = -129.971342; duration = 410; initialDepth = 1701.237147; finalDepth = 1699.839479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.111013 # Actual altitude: 53.111013 # Commanded vehicle depth: 1699.839479 # Seafloor depth: -1752.372905 # 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 46 # Segment length 102.727511 meters # Minimum depth: 1751.237147 meters looking forward 100.000000 meters along route # Maximum depth: 1754.291319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.237147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075668; longitude = -129.971985; duration = 410; initialDepth = 1693.086371; finalDepth = 1701.237147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.533426 # Actual altitude: 52.533426 # Commanded vehicle depth: 1701.237147 # Seafloor depth: -1751.237147 # 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 46 # Segment length 102.727861 meters # Minimum depth: 1743.086371 meters looking forward 100.000000 meters along route # Maximum depth: 1754.524268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.086371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074859; longitude = -129.972629; duration = 410; initialDepth = 1690.846491; finalDepth = 1693.086371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2265479999999 # Actual altitude: 61.2265479999999 # Commanded vehicle depth: 1693.086371 # Seafloor depth: -1754.312919 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.728212 meters # Minimum depth: 1740.846491 meters looking forward 100.000000 meters along route # Maximum depth: 1750.732366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.846491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074051; longitude = -129.973272; duration = 410; initialDepth = 1696.372069; finalDepth = 1690.846491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2265479999999 # Actual altitude: 61.2265479999999 # Commanded vehicle depth: 1690.846491 # Seafloor depth: -1743.089946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.728562 meters # Minimum depth: 1746.372069 meters looking forward 100.000000 meters along route # Maximum depth: 1751.880283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.372069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073242; longitude = -129.973915; duration = 410; initialDepth = 1679.566436; finalDepth = 1696.372069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.243455 # Actual altitude: 52.243455 # Commanded vehicle depth: 1696.372069 # Seafloor depth: -1747.421065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.728914 meters # Minimum depth: 1729.566436 meters looking forward 100.000000 meters along route # Maximum depth: 1745.953056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.566436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072433; longitude = -129.974559; duration = 410; initialDepth = 1674.596416; finalDepth = 1679.566436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.38662 # Actual altitude: 66.38662 # Commanded vehicle depth: 1679.566436 # Seafloor depth: -1745.953056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.729263 meters # Minimum depth: 1724.596416 meters looking forward 100.000000 meters along route # Maximum depth: 1736.817209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.596416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071624; longitude = -129.975202; duration = 410; initialDepth = 1683.502637; finalDepth = 1674.596416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.38662 # Actual altitude: 66.38662 # Commanded vehicle depth: 1674.596416 # Seafloor depth: -1727.143365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.729615 meters # Minimum depth: 1733.502637 meters looking forward 100.000000 meters along route # Maximum depth: 1745.447272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.502637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070815; longitude = -129.975846; duration = 410; initialDepth = 1676.223085; finalDepth = 1683.502637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.833275 # Actual altitude: 52.833275 # Commanded vehicle depth: 1683.502637 # Seafloor depth: -1736.335912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.729965 meters # Minimum depth: 1726.223085 meters looking forward 100.000000 meters along route # Maximum depth: 1741.147757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.223085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070006; longitude = -129.976489; duration = 410; initialDepth = 1669.555228; finalDepth = 1676.223085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.881341 # Actual altitude: 63.881341 # Commanded vehicle depth: 1676.223085 # Seafloor depth: -1740.104426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 102.730315 meters # Minimum depth: 1719.555228 meters looking forward 100.000000 meters along route # Maximum depth: 1726.324904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.555228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069198; longitude = -129.977133; duration = 410; initialDepth = 1674.171850; finalDepth = 1669.555228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.881341 # Actual altitude: 63.881341 # Commanded vehicle depth: 1669.555228 # Seafloor depth: -1725.520055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 106.161441 meters # Minimum depth: 1724.171850 meters looking forward 100.000000 meters along route # Maximum depth: 1730.302470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.171850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068389; longitude = -129.977776; duration = 424; initialDepth = 1674.263367; finalDepth = 1674.171850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.964827 # Actual altitude: 55.964827 # Commanded vehicle depth: 1674.17185 # Seafloor depth: -1724.171850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 45 # Segment length 143.552057 meters # Minimum depth: 1724.263367 meters looking forward 100.000000 meters along route # Maximum depth: 1753.559582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.263367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067553; longitude = -129.978441; duration = 574; # abortOnTimeout = True; initialDepth = 1702.369751; finalDepth = 1674.263367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1674.263367 # Seafloor depth: -1724.263367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 105.880677 meters # Minimum depth: 1752.369751 meters looking forward 100.000000 meters along route # Maximum depth: 1766.286566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.369751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068197; longitude = -129.980050; duration = 423; # abortOnTimeout = True; initialDepth = 1716.773151; finalDepth = 1702.369751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.369751 # Seafloor depth: -1752.369751 # 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 44 # Segment length 102.397552 meters # Minimum depth: 1766.773151 meters looking forward 100.000000 meters along route # Maximum depth: 1768.617457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.773151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069030; longitude = -129.979385; duration = 409; initialDepth = 1707.638882; finalDepth = 1716.773151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.773151 # Seafloor depth: -1766.773151 # 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 44 # Segment length 102.397202 meters # Minimum depth: 1757.638882 meters looking forward 100.000000 meters along route # Maximum depth: 1766.063080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.638882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069835; longitude = -129.978741; duration = 409; initialDepth = 1707.234416; finalDepth = 1707.638882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4241979999999 # Actual altitude: 58.4241979999999 # Commanded vehicle depth: 1707.638882 # Seafloor depth: -1766.063080 # 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 44 # Segment length 102.396852 meters # Minimum depth: 1757.234416 meters looking forward 100.000000 meters along route # Maximum depth: 1760.287790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.234416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070641; longitude = -129.978098; duration = 409; initialDepth = 1701.584564; finalDepth = 1707.234416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4241979999999 # Actual altitude: 58.4241979999999 # Commanded vehicle depth: 1707.234416 # Seafloor depth: -1760.287790 # 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 44 # Segment length 102.396501 meters # Minimum depth: 1751.584564 meters looking forward 100.000000 meters along route # Maximum depth: 1756.014857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.584564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071446; longitude = -129.977454; duration = 409; initialDepth = 1703.392061; finalDepth = 1701.584564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4302929999999 # Actual altitude: 54.4302929999999 # Commanded vehicle depth: 1701.584564 # Seafloor depth: -1756.014857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.396151 meters # Minimum depth: 1753.392061 meters looking forward 100.000000 meters along route # Maximum depth: 1762.806648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.392061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072251; longitude = -129.976811; duration = 409; initialDepth = 1710.035663; finalDepth = 1703.392061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4302929999999 # Actual altitude: 54.4302929999999 # Commanded vehicle depth: 1703.392061 # Seafloor depth: -1753.392061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.395801 meters # Minimum depth: 1760.035663 meters looking forward 100.000000 meters along route # Maximum depth: 1763.925756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.035663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073057; longitude = -129.976167; duration = 409; initialDepth = 1691.855532; finalDepth = 1710.035663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3958929999999 # Actual altitude: 52.3958929999999 # Commanded vehicle depth: 1710.035663 # Seafloor depth: -1762.431556 # 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 44 # Segment length 102.395450 meters # Minimum depth: 1741.855532 meters looking forward 100.000000 meters along route # Maximum depth: 1760.561055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.855532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073862; longitude = -129.975524; duration = 409; initialDepth = 1690.947320; finalDepth = 1691.855532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.7055229999999 # Actual altitude: 68.7055229999999 # Commanded vehicle depth: 1691.855532 # Seafloor depth: -1760.561055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.395100 meters # Minimum depth: 1740.947320 meters looking forward 100.000000 meters along route # Maximum depth: 1743.724355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.947320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074668; longitude = -129.974881; duration = 409; initialDepth = 1693.096167; finalDepth = 1690.947320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.7055229999999 # Actual altitude: 68.7055229999999 # Commanded vehicle depth: 1690.94732 # Seafloor depth: -1742.922228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.394749 meters # Minimum depth: 1743.096167 meters looking forward 100.000000 meters along route # Maximum depth: 1746.911532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.096167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075473; longitude = -129.974237; duration = 409; initialDepth = 1694.086776; finalDepth = 1693.096167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9749079999999 # Actual altitude: 51.9749079999999 # Commanded vehicle depth: 1693.096167 # Seafloor depth: -1744.533916 # 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 44 # Segment length 102.394400 meters # Minimum depth: 1744.086776 meters looking forward 100.000000 meters along route # Maximum depth: 1780.819389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.086776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076278; longitude = -129.973594; duration = 409; initialDepth = 1731.046368; finalDepth = 1694.086776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4377490000002 # Actual altitude: 51.4377490000002 # Commanded vehicle depth: 1694.086776 # Seafloor depth: -1744.324204 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.394048 meters # Minimum depth: 1781.046368 meters looking forward 100.000000 meters along route # Maximum depth: 1783.280142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.046368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077084; longitude = -129.972950; duration = 409; initialDepth = 1731.591970; finalDepth = 1731.046368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3748869999999 # Actual altitude: 50.3748869999999 # Commanded vehicle depth: 1731.046368 # Seafloor depth: -1781.421255 # 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 44 # Segment length 102.393699 meters # Minimum depth: 1781.591970 meters looking forward 100.000000 meters along route # Maximum depth: 1785.143603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.591970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077889; longitude = -129.972307; duration = 409; initialDepth = 1729.334967; finalDepth = 1731.591970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6671800000001 # Actual altitude: 50.6671800000001 # Commanded vehicle depth: 1731.59197 # Seafloor depth: -1782.259150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.393348 meters # Minimum depth: 1779.334967 meters looking forward 100.000000 meters along route # Maximum depth: 1784.560024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.334967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078694; longitude = -129.971663; duration = 409; initialDepth = 1727.294629; finalDepth = 1729.334967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2250570000001 # Actual altitude: 55.2250570000001 # Commanded vehicle depth: 1729.334967 # Seafloor depth: -1784.560024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.392998 meters # Minimum depth: 1777.294629 meters looking forward 100.000000 meters along route # Maximum depth: 1779.586998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.294629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079500; longitude = -129.971020; duration = 409; initialDepth = 1726.605566; finalDepth = 1727.294629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2250570000001 # Actual altitude: 55.2250570000001 # Commanded vehicle depth: 1727.294629 # Seafloor depth: -1779.586998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.392648 meters # Minimum depth: 1776.605566 meters looking forward 100.000000 meters along route # Maximum depth: 1778.664672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.605566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080305; longitude = -129.970376; duration = 409; initialDepth = 1723.687988; finalDepth = 1726.605566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.292369 # Actual altitude: 52.292369 # Commanded vehicle depth: 1726.605566 # Seafloor depth: -1777.850330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.392297 meters # Minimum depth: 1773.687988 meters looking forward 100.000000 meters along route # Maximum depth: 1777.447699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.687988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081111; longitude = -129.969733; duration = 409; initialDepth = 1723.713287; finalDepth = 1723.687988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7597110000002 # Actual altitude: 53.7597110000002 # Commanded vehicle depth: 1723.687988 # Seafloor depth: -1777.447699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 102.391947 meters # Minimum depth: 1773.713287 meters looking forward 100.000000 meters along route # Maximum depth: 1778.328556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.713287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081916; longitude = -129.969090; duration = 409; initialDepth = 1727.133676; finalDepth = 1723.713287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7597110000002 # Actual altitude: 53.7597110000002 # Commanded vehicle depth: 1723.713287 # Seafloor depth: -1773.713287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 105.849385 meters # Minimum depth: 1777.133676 meters looking forward 100.000000 meters along route # Maximum depth: 1780.871579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.133676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082721; longitude = -129.968446; duration = 423; initialDepth = 1725.912517; finalDepth = 1727.133676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.54233 # Actual altitude: 51.54233 # Commanded vehicle depth: 1727.133676 # Seafloor depth: -1778.676006 # 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; } # ####################################################### # # 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 43 # Segment length 155.660988 meters # Minimum depth: 1775.912517 meters looking forward 100.000000 meters along route # Maximum depth: 1779.612799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.912517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083554; longitude = -129.967781; duration = 622; # abortOnTimeout = True; initialDepth = 1727.889761; finalDepth = 1725.912517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.54233 # Actual altitude: 51.54233 # Commanded vehicle depth: 1725.912517 # Seafloor depth: -1777.215973 # 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; } # ####################################################### # # 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 42 # Segment length 136.932366 meters # Minimum depth: 1777.889761 meters looking forward 100.000000 meters along route # Maximum depth: 1779.802920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.889761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084261; longitude = -129.969519; duration = 547; # abortOnTimeout = True; initialDepth = 1726.403372; finalDepth = 1727.889761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7279150000002 # Actual altitude: 51.7279150000002 # Commanded vehicle depth: 1727.889761 # Seafloor depth: -1779.617676 # 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 42 # Segment length 102.750841 meters # Minimum depth: 1776.403372 meters looking forward 100.000000 meters along route # Maximum depth: 1780.357625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.403372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083183; longitude = -129.970376; duration = 411; initialDepth = 1725.598450; finalDepth = 1726.403372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.747993 # Actual altitude: 51.747993 # Commanded vehicle depth: 1726.403372 # Seafloor depth: -1778.151365 # 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 42 # Segment length 102.751192 meters # Minimum depth: 1775.598450 meters looking forward 100.000000 meters along route # Maximum depth: 1777.995894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.598450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082374; longitude = -129.971020; duration = 411; initialDepth = 1726.232054; finalDepth = 1725.598450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.747993 # Actual altitude: 51.747993 # Commanded vehicle depth: 1725.59845 # Seafloor depth: -1775.875283 # 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 42 # Segment length 102.751542 meters # Minimum depth: 1776.232054 meters looking forward 100.000000 meters along route # Maximum depth: 1778.597902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.232054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081565; longitude = -129.971663; duration = 411; initialDepth = 1697.214759; finalDepth = 1726.232054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5579559999999 # Actual altitude: 50.5579559999999 # Commanded vehicle depth: 1726.232054 # Seafloor depth: -1776.790010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.751894 meters # Minimum depth: 1747.214759 meters looking forward 100.000000 meters along route # Maximum depth: 1775.527220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.214759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080756; longitude = -129.972307; duration = 411; initialDepth = 1692.828359; finalDepth = 1697.214759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3791840000001 # Actual altitude: 76.3791840000001 # Commanded vehicle depth: 1697.214759 # Seafloor depth: -1773.593943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.752243 meters # Minimum depth: 1742.828359 meters looking forward 100.000000 meters along route # Maximum depth: 1747.774831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.828359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079946; longitude = -129.972950; duration = 411; initialDepth = 1690.996065; finalDepth = 1692.828359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3791840000001 # Actual altitude: 76.3791840000001 # Commanded vehicle depth: 1692.828359 # Seafloor depth: -1745.726684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.752595 meters # Minimum depth: 1740.996065 meters looking forward 100.000000 meters along route # Maximum depth: 1746.152570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.996065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079137; longitude = -129.973594; duration = 411; initialDepth = 1698.847479; finalDepth = 1690.996065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8983249999999 # Actual altitude: 52.8983249999999 # Commanded vehicle depth: 1690.996065 # Seafloor depth: -1743.789730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.752945 meters # Minimum depth: 1748.847479 meters looking forward 100.000000 meters along route # Maximum depth: 1767.881836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.847479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078328; longitude = -129.974237; duration = 411; initialDepth = 1703.390131; finalDepth = 1698.847479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7936649999999 # Actual altitude: 52.7936649999999 # Commanded vehicle depth: 1698.847479 # Seafloor depth: -1748.847479 # 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 42 # Segment length 102.753296 meters # Minimum depth: 1753.390131 meters looking forward 100.000000 meters along route # Maximum depth: 1766.156635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.390131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077519; longitude = -129.974881; duration = 411; initialDepth = 1704.369026; finalDepth = 1703.390131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7665039999999 # Actual altitude: 62.7665039999999 # Commanded vehicle depth: 1703.390131 # Seafloor depth: -1766.156635 # 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 42 # Segment length 102.753646 meters # Minimum depth: 1754.369026 meters looking forward 100.000000 meters along route # Maximum depth: 1758.731655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.369026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076710; longitude = -129.975524; duration = 411; initialDepth = 1710.127575; finalDepth = 1704.369026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7665039999999 # Actual altitude: 62.7665039999999 # Commanded vehicle depth: 1704.369026 # Seafloor depth: -1754.369026 # 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 42 # Segment length 102.753997 meters # Minimum depth: 1760.127575 meters looking forward 100.000000 meters along route # Maximum depth: 1763.803692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.127575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075901; longitude = -129.976167; duration = 411; initialDepth = 1708.490562; finalDepth = 1710.127575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1137450000001 # Actual altitude: 51.1137450000001 # Commanded vehicle depth: 1710.127575 # Seafloor depth: -1761.241320 # 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 42 # Segment length 102.754348 meters # Minimum depth: 1758.490562 meters looking forward 100.000000 meters along route # Maximum depth: 1760.123113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.490562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075092; longitude = -129.976811; duration = 411; initialDepth = 1707.106960; finalDepth = 1708.490562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6325510000001 # Actual altitude: 51.6325510000001 # Commanded vehicle depth: 1708.490562 # Seafloor depth: -1760.123113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.754698 meters # Minimum depth: 1757.106960 meters looking forward 100.000000 meters along route # Maximum depth: 1758.849147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.106960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074283; longitude = -129.977454; duration = 411; initialDepth = 1707.610873; finalDepth = 1707.106960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6325510000001 # Actual altitude: 51.6325510000001 # Commanded vehicle depth: 1707.10696 # Seafloor depth: -1758.689556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.755049 meters # Minimum depth: 1757.610873 meters looking forward 100.000000 meters along route # Maximum depth: 1758.889601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.610873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073474; longitude = -129.978098; duration = 411; initialDepth = 1706.522498; finalDepth = 1707.610873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.582596 # Actual altitude: 51.582596 # Commanded vehicle depth: 1707.610873 # Seafloor depth: -1757.610873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.755400 meters # Minimum depth: 1756.522498 meters looking forward 100.000000 meters along route # Maximum depth: 1758.184177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.522498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072665; longitude = -129.978741; duration = 411; initialDepth = 1707.846329; finalDepth = 1706.522498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.298245 # Actual altitude: 51.298245 # Commanded vehicle depth: 1706.522498 # Seafloor depth: -1757.820743 # 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 42 # Segment length 102.755750 meters # Minimum depth: 1757.846329 meters looking forward 100.000000 meters along route # Maximum depth: 1759.673688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.846329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071856; longitude = -129.979385; duration = 411; initialDepth = 1709.827959; finalDepth = 1707.846329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.298245 # Actual altitude: 51.298245 # Commanded vehicle depth: 1707.846329 # Seafloor depth: -1757.846329 # 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 42 # Segment length 102.756101 meters # Minimum depth: 1759.827959 meters looking forward 100.000000 meters along route # Maximum depth: 1768.928327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.827959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071046; longitude = -129.980028; duration = 411; initialDepth = 1716.386122; finalDepth = 1709.827959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.827959 # Seafloor depth: -1759.827959 # 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 42 # Segment length 102.756452 meters # Minimum depth: 1766.386122 meters looking forward 100.000000 meters along route # Maximum depth: 1769.697649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.386122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070237; longitude = -129.980672; duration = 411; initialDepth = 1708.497700; finalDepth = 1716.386122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5131500000002 # Actual altitude: 52.5131500000002 # Commanded vehicle depth: 1716.386122 # Seafloor depth: -1768.899272 # 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 42 # Segment length 102.756803 meters # Minimum depth: 1758.497700 meters looking forward 100.000000 meters along route # Maximum depth: 1763.561888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.497700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069428; longitude = -129.981315; duration = 411; initialDepth = 1704.160862; finalDepth = 1708.497700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0641880000001 # Actual altitude: 55.0641880000001 # Commanded vehicle depth: 1708.4977 # Seafloor depth: -1763.561888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.757153 meters # Minimum depth: 1754.160862 meters looking forward 100.000000 meters along route # Maximum depth: 1758.457761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.160862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068619; longitude = -129.981958; duration = 411; initialDepth = 1687.502795; finalDepth = 1704.160862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0641880000001 # Actual altitude: 55.0641880000001 # Commanded vehicle depth: 1704.160862 # Seafloor depth: -1758.149420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.757504 meters # Minimum depth: 1737.502795 meters looking forward 100.000000 meters along route # Maximum depth: 1753.058702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.502795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067810; longitude = -129.982602; duration = 411; initialDepth = 1682.082286; finalDepth = 1687.502795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5559069999999 # Actual altitude: 65.5559069999999 # Commanded vehicle depth: 1687.502795 # Seafloor depth: -1753.058702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.757854 meters # Minimum depth: 1732.082286 meters looking forward 100.000000 meters along route # Maximum depth: 1735.652222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.082286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067001; longitude = -129.983245; duration = 411; initialDepth = 1680.328773; finalDepth = 1682.082286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5559069999999 # Actual altitude: 65.5559069999999 # Commanded vehicle depth: 1682.082286 # Seafloor depth: -1735.652222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.758206 meters # Minimum depth: 1730.328773 meters looking forward 100.000000 meters along route # Maximum depth: 1734.101193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.328773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066192; longitude = -129.983889; duration = 411; initialDepth = 1681.561691; finalDepth = 1680.328773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5699359999999 # Actual altitude: 53.5699359999999 # Commanded vehicle depth: 1680.328773 # Seafloor depth: -1732.698712 # 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 42 # Segment length 102.758556 meters # Minimum depth: 1731.561691 meters looking forward 100.000000 meters along route # Maximum depth: 1735.646957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.561691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065383; longitude = -129.984532; duration = 411; initialDepth = 1682.662024; finalDepth = 1681.561691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3699389999999 # Actual altitude: 52.3699389999999 # Commanded vehicle depth: 1681.561691 # Seafloor depth: -1731.652349 # 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 42 # Segment length 102.758907 meters # Minimum depth: 1732.662024 meters looking forward 100.000000 meters along route # Maximum depth: 1738.474053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.662024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064574; longitude = -129.985176; duration = 411; initialDepth = 1682.109774; finalDepth = 1682.662024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5644910000001 # Actual altitude: 52.5644910000001 # Commanded vehicle depth: 1682.662024 # Seafloor depth: -1735.226515 # 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 42 # Segment length 102.759257 meters # Minimum depth: 1732.109774 meters looking forward 100.000000 meters along route # Maximum depth: 1736.477616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.109774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063765; longitude = -129.985819; duration = 411; initialDepth = 1673.951644; finalDepth = 1682.109774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5644910000001 # Actual altitude: 52.5644910000001 # Commanded vehicle depth: 1682.109774 # Seafloor depth: -1732.252737 # 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 42 # Segment length 102.759609 meters # Minimum depth: 1723.951644 meters looking forward 100.000000 meters along route # Maximum depth: 1738.687586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.951644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062956; longitude = -129.986463; duration = 411; initialDepth = 1669.530529; finalDepth = 1673.951644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.735942 # Actual altitude: 64.735942 # Commanded vehicle depth: 1673.951644 # Seafloor depth: -1738.687586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.759959 meters # Minimum depth: 1719.530529 meters looking forward 100.000000 meters along route # Maximum depth: 1725.126775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.530529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062147; longitude = -129.987106; duration = 411; initialDepth = 1663.649688; finalDepth = 1669.530529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.735942 # Actual altitude: 64.735942 # Commanded vehicle depth: 1669.530529 # Seafloor depth: -1725.126775 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.760310 meters # Minimum depth: 1713.649688 meters looking forward 100.000000 meters along route # Maximum depth: 1719.250145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.649688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061337; longitude = -129.987749; duration = 411; initialDepth = 1648.184289; finalDepth = 1663.649688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5962460000001 # Actual altitude: 55.5962460000001 # Commanded vehicle depth: 1663.649688 # Seafloor depth: -1718.742282 # 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 42 # Segment length 102.760661 meters # Minimum depth: 1698.184289 meters looking forward 100.000000 meters along route # Maximum depth: 1712.338766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.184289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060528; longitude = -129.988393; duration = 411; initialDepth = 1642.543377; finalDepth = 1648.184289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.154477 # Actual altitude: 64.154477 # Commanded vehicle depth: 1648.184289 # Seafloor depth: -1712.338766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.761011 meters # Minimum depth: 1692.543377 meters looking forward 100.000000 meters along route # Maximum depth: 1697.024345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.543377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059719; longitude = -129.989036; duration = 411; initialDepth = 1639.568899; finalDepth = 1642.543377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.154477 # Actual altitude: 64.154477 # Commanded vehicle depth: 1642.543377 # Seafloor depth: -1697.024345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.761362 meters # Minimum depth: 1689.568899 meters looking forward 100.000000 meters along route # Maximum depth: 1694.193207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.568899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058910; longitude = -129.989680; duration = 411; initialDepth = 1636.278915; finalDepth = 1639.568899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5450779999999 # Actual altitude: 54.5450779999999 # Commanded vehicle depth: 1639.568899 # Seafloor depth: -1694.113977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.761713 meters # Minimum depth: 1686.278915 meters looking forward 100.000000 meters along route # Maximum depth: 1689.434155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.278915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058101; longitude = -129.990323; duration = 411; initialDepth = 1635.210268; finalDepth = 1636.278915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5450779999999 # Actual altitude: 54.5450779999999 # Commanded vehicle depth: 1636.278915 # Seafloor depth: -1688.934886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.762064 meters # Minimum depth: 1685.210268 meters looking forward 100.000000 meters along route # Maximum depth: 1687.154401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.210268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057292; longitude = -129.990967; duration = 411; initialDepth = 1634.675899; finalDepth = 1635.210268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6559709999999 # Actual altitude: 52.6559709999999 # Commanded vehicle depth: 1635.210268 # Seafloor depth: -1686.924694 # 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 42 # Segment length 102.762415 meters # Minimum depth: 1684.675899 meters looking forward 100.000000 meters along route # Maximum depth: 1685.221643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.675899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056483; longitude = -129.991610; duration = 411; initialDepth = 1632.328120; finalDepth = 1634.675899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.714426 # Actual altitude: 51.714426 # Commanded vehicle depth: 1634.675899 # Seafloor depth: -1685.017302 # 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 42 # Segment length 102.762765 meters # Minimum depth: 1682.328120 meters looking forward 100.000000 meters along route # Maximum depth: 1686.138251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.328120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055674; longitude = -129.992254; duration = 411; initialDepth = 1632.310104; finalDepth = 1632.328120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4493540000001 # Actual altitude: 52.4493540000001 # Commanded vehicle depth: 1632.32812 # Seafloor depth: -1684.777474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.763117 meters # Minimum depth: 1682.310104 meters looking forward 100.000000 meters along route # Maximum depth: 1685.473495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.310104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054865; longitude = -129.992897; duration = 411; initialDepth = 1630.707055; finalDepth = 1632.310104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4493540000001 # Actual altitude: 52.4493540000001 # Commanded vehicle depth: 1632.310104 # Seafloor depth: -1682.861672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.763467 meters # Minimum depth: 1680.707055 meters looking forward 100.000000 meters along route # Maximum depth: 1683.656786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.707055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054056; longitude = -129.993540; duration = 411; initialDepth = 1631.991209; finalDepth = 1630.707055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9497309999999 # Actual altitude: 52.9497309999999 # Commanded vehicle depth: 1630.707055 # Seafloor depth: -1683.656786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 102.763818 meters # Minimum depth: 1681.991209 meters looking forward 100.000000 meters along route # Maximum depth: 1684.813752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.991209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053247; longitude = -129.994184; duration = 411; initialDepth = 1630.806894; finalDepth = 1631.991209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9497309999999 # Actual altitude: 52.9497309999999 # Commanded vehicle depth: 1631.991209 # Seafloor depth: -1681.991209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 109.678347 meters # Minimum depth: 1680.806894 meters looking forward 100.000000 meters along route # Maximum depth: 1683.933687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.806894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052438; longitude = -129.994827; duration = 438; initialDepth = 1615.580945; finalDepth = 1630.806894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.8476069999999 # Actual altitude: 52.8476069999999 # Commanded vehicle depth: 1630.806894 # Seafloor depth: -1683.654501 # 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; } # ####################################################### # # 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 41 # Segment length 147.896697 meters # Minimum depth: 1665.580945 meters looking forward 100.000000 meters along route # Maximum depth: 1682.450745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.580945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.051574; longitude = -129.995514; duration = 591; # abortOnTimeout = True; initialDepth = 1622.897553; finalDepth = 1615.580945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.8698000000002 # Actual altitude: 66.8698000000002 # Commanded vehicle depth: 1615.580945 # Seafloor depth: -1682.450745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 140.301762 meters # Minimum depth: 1672.897553 meters looking forward 100.000000 meters along route # Maximum depth: 1681.979197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.897553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052218; longitude = -129.997187; duration = 561; # abortOnTimeout = True; initialDepth = 1610.123120; finalDepth = 1622.897553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8698000000002 # Actual altitude: 66.8698000000002 # Commanded vehicle depth: 1622.897553 # Seafloor depth: -1676.668671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 102.607103 meters # Minimum depth: 1660.123120 meters looking forward 100.000000 meters along route # Maximum depth: 1681.326687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.123120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053322; longitude = -129.996307; duration = 410; initialDepth = 1631.105465; finalDepth = 1610.123120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.609336 # Actual altitude: 58.609336 # Commanded vehicle depth: 1610.12312 # Seafloor depth: -1668.732456 # 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 40 # Segment length 102.606751 meters # Minimum depth: 1681.105465 meters looking forward 100.000000 meters along route # Maximum depth: 1683.773456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.105465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054130; longitude = -129.995664; duration = 410; initialDepth = 1631.009100; finalDepth = 1631.105465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.609336 # Actual altitude: 58.609336 # Commanded vehicle depth: 1631.105465 # Seafloor depth: -1681.105465 # 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 40 # Segment length 102.606401 meters # Minimum depth: 1681.009100 meters looking forward 100.000000 meters along route # Maximum depth: 1683.420674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.009100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054937; longitude = -129.995020; duration = 410; initialDepth = 1621.667251; finalDepth = 1631.009100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.411574 # Actual altitude: 52.411574 # Commanded vehicle depth: 1631.0091 # Seafloor depth: -1683.420674 # 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 40 # Segment length 102.606051 meters # Minimum depth: 1671.667251 meters looking forward 100.000000 meters along route # Maximum depth: 1681.318371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.667251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055745; longitude = -129.994377; duration = 410; initialDepth = 1621.041400; finalDepth = 1621.667251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1810349999998 # Actual altitude: 59.1810349999998 # Commanded vehicle depth: 1621.667251 # Seafloor depth: -1680.848286 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.605699 meters # Minimum depth: 1671.041400 meters looking forward 100.000000 meters along route # Maximum depth: 1678.833339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.041400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056552; longitude = -129.993733; duration = 410; initialDepth = 1629.077874; finalDepth = 1621.041400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1810349999998 # Actual altitude: 59.1810349999998 # Commanded vehicle depth: 1621.0414 # Seafloor depth: -1676.672285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.605349 meters # Minimum depth: 1679.077874 meters looking forward 100.000000 meters along route # Maximum depth: 1686.741311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.077874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057359; longitude = -129.993090; duration = 410; initialDepth = 1637.375158; finalDepth = 1629.077874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.630885 # Actual altitude: 55.630885 # Commanded vehicle depth: 1629.077874 # Seafloor depth: -1679.077874 # 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 40 # Segment length 102.604999 meters # Minimum depth: 1687.375158 meters looking forward 100.000000 meters along route # Maximum depth: 1689.737662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.375158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058167; longitude = -129.992447; duration = 410; initialDepth = 1637.497226; finalDepth = 1637.375158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1637.375158 # Seafloor depth: -1687.375158 # 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 40 # Segment length 102.604647 meters # Minimum depth: 1687.497226 meters looking forward 100.000000 meters along route # Maximum depth: 1688.814082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.497226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058974; longitude = -129.991803; duration = 410; initialDepth = 1635.145970; finalDepth = 1637.497226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.589277 # Actual altitude: 50.589277 # Commanded vehicle depth: 1637.497226 # Seafloor depth: -1688.086503 # 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 40 # Segment length 102.604297 meters # Minimum depth: 1685.145970 meters looking forward 100.000000 meters along route # Maximum depth: 1689.188092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.145970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059782; longitude = -129.991160; duration = 410; initialDepth = 1636.289791; finalDepth = 1635.145970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0421220000001 # Actual altitude: 54.0421220000001 # Commanded vehicle depth: 1635.14597 # Seafloor depth: -1689.188092 # 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 40 # Segment length 102.603946 meters # Minimum depth: 1686.289791 meters looking forward 100.000000 meters along route # Maximum depth: 1702.674701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.289791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060589; longitude = -129.990516; duration = 410; initialDepth = 1657.924253; finalDepth = 1636.289791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0421220000001 # Actual altitude: 54.0421220000001 # Commanded vehicle depth: 1636.289791 # Seafloor depth: -1686.289791 # 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 40 # Segment length 102.603596 meters # Minimum depth: 1707.924253 meters looking forward 100.000000 meters along route # Maximum depth: 1711.576045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.924253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061397; longitude = -129.989873; duration = 410; initialDepth = 1659.789647; finalDepth = 1657.924253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1657.924253 # Seafloor depth: -1707.924253 # 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 40 # Segment length 102.603245 meters # Minimum depth: 1709.789647 meters looking forward 100.000000 meters along route # Maximum depth: 1726.715330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.789647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062204; longitude = -129.989229; duration = 410; initialDepth = 1679.014124; finalDepth = 1659.789647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.905387 # Actual altitude: 50.905387 # Commanded vehicle depth: 1659.789647 # Seafloor depth: -1710.695034 # 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 40 # Segment length 102.602894 meters # Minimum depth: 1729.014124 meters looking forward 100.000000 meters along route # Maximum depth: 1735.183656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.014124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063012; longitude = -129.988586; duration = 410; initialDepth = 1685.105551; finalDepth = 1679.014124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.905387 # Actual altitude: 50.905387 # Commanded vehicle depth: 1679.014124 # Seafloor depth: -1729.014124 # 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 40 # Segment length 102.602544 meters # Minimum depth: 1735.105551 meters looking forward 100.000000 meters along route # Maximum depth: 1737.651651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.105551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063819; longitude = -129.987942; duration = 410; initialDepth = 1688.047535; finalDepth = 1685.105551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.847084 # Actual altitude: 50.847084 # Commanded vehicle depth: 1685.105551 # Seafloor depth: -1735.952635 # 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 40 # Segment length 102.602193 meters # Minimum depth: 1738.047535 meters looking forward 100.000000 meters along route # Maximum depth: 1739.951362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.047535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064627; longitude = -129.987299; duration = 410; initialDepth = 1689.813120; finalDepth = 1688.047535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.847084 # Actual altitude: 50.847084 # Commanded vehicle depth: 1688.047535 # Seafloor depth: -1738.210854 # 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 40 # Segment length 102.601842 meters # Minimum depth: 1739.813120 meters looking forward 100.000000 meters along route # Maximum depth: 1742.946243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.813120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065434; longitude = -129.986656; duration = 410; initialDepth = 1693.260533; finalDepth = 1689.813120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.88725 # Actual altitude: 50.88725 # Commanded vehicle depth: 1689.81312 # Seafloor depth: -1740.700370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.601492 meters # Minimum depth: 1743.260533 meters looking forward 100.000000 meters along route # Maximum depth: 1744.798780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.260533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066242; longitude = -129.986012; duration = 410; initialDepth = 1694.461516; finalDepth = 1693.260533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.88725 # Actual altitude: 50.88725 # Commanded vehicle depth: 1693.260533 # Seafloor depth: -1743.357566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.601141 meters # Minimum depth: 1744.461516 meters looking forward 100.000000 meters along route # Maximum depth: 1746.503155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.461516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067049; longitude = -129.985369; duration = 410; initialDepth = 1693.875305; finalDepth = 1694.461516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.041639 # Actual altitude: 52.041639 # Commanded vehicle depth: 1694.461516 # Seafloor depth: -1746.503155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.600790 meters # Minimum depth: 1743.875305 meters looking forward 100.000000 meters along route # Maximum depth: 1750.736314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.875305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067857; longitude = -129.984725; duration = 410; initialDepth = 1699.829165; finalDepth = 1693.875305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.041639 # Actual altitude: 52.041639 # Commanded vehicle depth: 1693.875305 # Seafloor depth: -1743.875305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.600440 meters # Minimum depth: 1749.829165 meters looking forward 100.000000 meters along route # Maximum depth: 1758.587339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.829165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068664; longitude = -129.984082; duration = 410; initialDepth = 1711.015654; finalDepth = 1699.829165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1699.829165 # Seafloor depth: -1749.829165 # 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 40 # Segment length 102.600090 meters # Minimum depth: 1761.015654 meters looking forward 100.000000 meters along route # Maximum depth: 1765.847505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.015654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069472; longitude = -129.983438; duration = 410; initialDepth = 1715.479444; finalDepth = 1711.015654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4746740000001 # Actual altitude: 50.4746740000001 # Commanded vehicle depth: 1711.015654 # Seafloor depth: -1761.490328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.599738 meters # Minimum depth: 1765.479444 meters looking forward 100.000000 meters along route # Maximum depth: 1768.623091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.479444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070279; longitude = -129.982795; duration = 410; initialDepth = 1711.623409; finalDepth = 1715.479444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4746740000001 # Actual altitude: 50.4746740000001 # Commanded vehicle depth: 1715.479444 # Seafloor depth: -1765.479444 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.599389 meters # Minimum depth: 1761.623409 meters looking forward 100.000000 meters along route # Maximum depth: 1767.582755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.623409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071087; longitude = -129.982151; duration = 410; initialDepth = 1707.603394; finalDepth = 1711.623409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9593459999999 # Actual altitude: 55.9593459999999 # Commanded vehicle depth: 1711.623409 # Seafloor depth: -1767.582755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.599037 meters # Minimum depth: 1757.603394 meters looking forward 100.000000 meters along route # Maximum depth: 1760.745796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.603394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071894; longitude = -129.981508; duration = 410; initialDepth = 1707.553547; finalDepth = 1707.603394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9593459999999 # Actual altitude: 55.9593459999999 # Commanded vehicle depth: 1707.603394 # Seafloor depth: -1760.745796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.598687 meters # Minimum depth: 1757.553547 meters looking forward 100.000000 meters along route # Maximum depth: 1759.360645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.553547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072702; longitude = -129.980865; duration = 410; initialDepth = 1707.607473; finalDepth = 1707.553547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1424019999999 # Actual altitude: 53.1424019999999 # Commanded vehicle depth: 1707.553547 # Seafloor depth: -1758.192570 # 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 40 # Segment length 102.598337 meters # Minimum depth: 1757.607473 meters looking forward 100.000000 meters along route # Maximum depth: 1758.905064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.607473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073509; longitude = -129.980221; duration = 410; initialDepth = 1706.413109; finalDepth = 1707.607473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.639023 # Actual altitude: 50.639023 # Commanded vehicle depth: 1707.607473 # Seafloor depth: -1758.080110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.597985 meters # Minimum depth: 1756.413109 meters looking forward 100.000000 meters along route # Maximum depth: 1759.243597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.413109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074316; longitude = -129.979578; duration = 410; initialDepth = 1699.972965; finalDepth = 1706.413109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.512512 # Actual altitude: 51.512512 # Commanded vehicle depth: 1706.413109 # Seafloor depth: -1757.925621 # 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 40 # Segment length 102.597636 meters # Minimum depth: 1749.972965 meters looking forward 100.000000 meters along route # Maximum depth: 1760.844555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.972965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075124; longitude = -129.978934; duration = 410; initialDepth = 1692.421230; finalDepth = 1699.972965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8470590000002 # Actual altitude: 59.8470590000002 # Commanded vehicle depth: 1699.972965 # Seafloor depth: -1759.820024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.597284 meters # Minimum depth: 1742.421230 meters looking forward 100.000000 meters along route # Maximum depth: 1747.758847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.421230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075931; longitude = -129.978291; duration = 410; initialDepth = 1692.540133; finalDepth = 1692.421230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8470590000002 # Actual altitude: 59.8470590000002 # Commanded vehicle depth: 1692.42123 # Seafloor depth: -1747.758847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.596935 meters # Minimum depth: 1742.540133 meters looking forward 100.000000 meters along route # Maximum depth: 1744.644039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.540133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076739; longitude = -129.977647; duration = 410; initialDepth = 1691.103222; finalDepth = 1692.540133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3376170000001 # Actual altitude: 55.3376170000001 # Commanded vehicle depth: 1692.540133 # Seafloor depth: -1743.530114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.596583 meters # Minimum depth: 1741.103222 meters looking forward 100.000000 meters along route # Maximum depth: 1746.085720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.103222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077546; longitude = -129.977004; duration = 410; initialDepth = 1697.880709; finalDepth = 1691.103222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.252371 # Actual altitude: 51.252371 # Commanded vehicle depth: 1691.103222 # Seafloor depth: -1742.355593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.596233 meters # Minimum depth: 1747.880709 meters looking forward 100.000000 meters along route # Maximum depth: 1754.084768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.880709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078354; longitude = -129.976360; duration = 410; initialDepth = 1690.493474; finalDepth = 1697.880709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.252371 # Actual altitude: 51.252371 # Commanded vehicle depth: 1697.880709 # Seafloor depth: -1747.880709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.595883 meters # Minimum depth: 1740.493474 meters looking forward 100.000000 meters along route # Maximum depth: 1748.629374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.493474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079161; longitude = -129.975717; duration = 410; initialDepth = 1692.370696; finalDepth = 1690.493474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1359 # Actual altitude: 58.1359 # Commanded vehicle depth: 1690.493474 # Seafloor depth: -1748.629374 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.595532 meters # Minimum depth: 1742.370696 meters looking forward 100.000000 meters along route # Maximum depth: 1745.755862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.370696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079969; longitude = -129.975074; duration = 410; initialDepth = 1695.062462; finalDepth = 1692.370696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1359 # Actual altitude: 58.1359 # Commanded vehicle depth: 1692.370696 # Seafloor depth: -1742.755274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 102.595182 meters # Minimum depth: 1745.062462 meters looking forward 100.000000 meters along route # Maximum depth: 1750.597402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.062462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080776; longitude = -129.974430; duration = 410; initialDepth = 1702.717755; finalDepth = 1695.062462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3845780000001 # Actual altitude: 50.3845780000001 # Commanded vehicle depth: 1695.062462 # Seafloor depth: -1745.062462 # 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 40 # Segment length 102.594831 meters # Minimum depth: 1752.717755 meters looking forward 100.000000 meters along route # Maximum depth: 1766.897009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.717755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081584; longitude = -129.973787; duration = 410; initialDepth = 1714.841697; finalDepth = 1702.717755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.717755 # Seafloor depth: -1752.717755 # 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 40 # Segment length 102.594480 meters # Minimum depth: 1764.841697 meters looking forward 100.000000 meters along route # Maximum depth: 1772.219742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.841697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082391; longitude = -129.973143; duration = 410; initialDepth = 1711.522440; finalDepth = 1714.841697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3721169999999 # Actual altitude: 50.3721169999999 # Commanded vehicle depth: 1714.841697 # Seafloor depth: -1765.213814 # 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 40 # Segment length 102.594130 meters # Minimum depth: 1761.522440 meters looking forward 100.000000 meters along route # Maximum depth: 1764.288814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.522440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083199; longitude = -129.972500; duration = 410; initialDepth = 1709.425405; finalDepth = 1711.522440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2956409999999 # Actual altitude: 52.2956409999999 # Commanded vehicle depth: 1711.52244 # Seafloor depth: -1763.818081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 105.937099 meters # Minimum depth: 1759.425405 meters looking forward 100.000000 meters along route # Maximum depth: 1779.976664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.425405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084006; longitude = -129.971856; duration = 423; initialDepth = 1704.118165; finalDepth = 1709.425405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.321132 # Actual altitude: 52.321132 # Commanded vehicle depth: 1709.425405 # Seafloor depth: -1761.746537 # 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; } # ####################################################### # # 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 39 # Segment length 151.800159 meters # Minimum depth: 1754.118165 meters looking forward 100.000000 meters along route # Maximum depth: 1780.428101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.118165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084840; longitude = -129.971192; duration = 607; # abortOnTimeout = True; initialDepth = 1693.366051; finalDepth = 1704.118165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.3099359999999 # Actual altitude: 76.3099359999999 # Commanded vehicle depth: 1704.118165 # Seafloor depth: -1780.428101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.79; 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 38 # Segment length 109.597336 meters # Minimum depth: 1743.366051 meters looking forward 100.000000 meters along route # Maximum depth: 1755.249478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.366051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085505; longitude = -129.972907; duration = 438; # abortOnTimeout = True; initialDepth = 1689.519863; finalDepth = 1693.366051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3099359999999 # Actual altitude: 76.3099359999999 # Commanded vehicle depth: 1693.366051 # Seafloor depth: -1754.085022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 102.693393 meters # Minimum depth: 1739.519863 meters looking forward 100.000000 meters along route # Maximum depth: 1743.135956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.519863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084642; longitude = -129.973594; duration = 410; initialDepth = 1686.219373; finalDepth = 1689.519863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.718971 # Actual altitude: 60.718971 # Commanded vehicle depth: 1689.519863 # Seafloor depth: -1743.135956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.693744 meters # Minimum depth: 1736.219373 meters looking forward 100.000000 meters along route # Maximum depth: 1740.280528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.219373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083834; longitude = -129.974237; duration = 410; initialDepth = 1685.493270; finalDepth = 1686.219373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0611550000001 # Actual altitude: 54.0611550000001 # Commanded vehicle depth: 1686.219373 # Seafloor depth: -1740.280528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.694094 meters # Minimum depth: 1735.493270 meters looking forward 100.000000 meters along route # Maximum depth: 1737.818210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.493270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083025; longitude = -129.974881; duration = 410; initialDepth = 1685.827375; finalDepth = 1685.493270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0611550000001 # Actual altitude: 54.0611550000001 # Commanded vehicle depth: 1685.49327 # Seafloor depth: -1736.533101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.694444 meters # Minimum depth: 1735.827375 meters looking forward 100.000000 meters along route # Maximum depth: 1737.545420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.827375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082217; longitude = -129.975524; duration = 410; initialDepth = 1684.619322; finalDepth = 1685.827375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.039831 # Actual altitude: 51.039831 # Commanded vehicle depth: 1685.827375 # Seafloor depth: -1735.827375 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.694795 meters # Minimum depth: 1734.619322 meters looking forward 100.000000 meters along route # Maximum depth: 1736.897571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.619322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081408; longitude = -129.976167; duration = 410; initialDepth = 1683.179764; finalDepth = 1684.619322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9058620000001 # Actual altitude: 50.9058620000001 # Commanded vehicle depth: 1684.619322 # Seafloor depth: -1735.525184 # 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 38 # Segment length 102.695146 meters # Minimum depth: 1733.179764 meters looking forward 100.000000 meters along route # Maximum depth: 1736.540454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.179764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080600; longitude = -129.976811; duration = 410; initialDepth = 1676.255031; finalDepth = 1683.179764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9058620000001 # Actual altitude: 50.9058620000001 # Commanded vehicle depth: 1683.179764 # Seafloor depth: -1733.879083 # 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 38 # Segment length 102.695497 meters # Minimum depth: 1726.255031 meters looking forward 100.000000 meters along route # Maximum depth: 1732.177244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.255031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079791; longitude = -129.977454; duration = 410; initialDepth = 1678.487370; finalDepth = 1676.255031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9222130000001 # Actual altitude: 55.9222130000001 # Commanded vehicle depth: 1676.255031 # Seafloor depth: -1732.177244 # 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 38 # Segment length 102.695847 meters # Minimum depth: 1728.487370 meters looking forward 100.000000 meters along route # Maximum depth: 1741.207821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.487370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078983; longitude = -129.978098; duration = 410; initialDepth = 1690.160534; finalDepth = 1678.487370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9222130000001 # Actual altitude: 55.9222130000001 # Commanded vehicle depth: 1678.48737 # Seafloor depth: -1728.676653 # 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 38 # Segment length 102.696198 meters # Minimum depth: 1740.160534 meters looking forward 100.000000 meters along route # Maximum depth: 1742.926699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.160534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078174; longitude = -129.978741; duration = 410; initialDepth = 1690.570849; finalDepth = 1690.160534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0354499999999 # Actual altitude: 51.0354499999999 # Commanded vehicle depth: 1690.160534 # Seafloor depth: -1741.195984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.696548 meters # Minimum depth: 1740.570849 meters looking forward 100.000000 meters along route # Maximum depth: 1741.978156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.570849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077366; longitude = -129.979385; duration = 410; initialDepth = 1690.972410; finalDepth = 1690.570849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0354499999999 # Actual altitude: 51.0354499999999 # Commanded vehicle depth: 1690.570849 # Seafloor depth: -1741.181958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.696899 meters # Minimum depth: 1740.972410 meters looking forward 100.000000 meters along route # Maximum depth: 1750.454332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.972410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076557; longitude = -129.980028; duration = 410; initialDepth = 1701.391262; finalDepth = 1690.972410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6111089999999 # Actual altitude: 50.6111089999999 # Commanded vehicle depth: 1690.97241 # Seafloor depth: -1741.529348 # 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 38 # Segment length 102.697250 meters # Minimum depth: 1751.391262 meters looking forward 100.000000 meters along route # Maximum depth: 1759.759772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.391262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075749; longitude = -129.980672; duration = 410; initialDepth = 1706.422976; finalDepth = 1701.391262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5569379999999 # Actual altitude: 50.5569379999999 # Commanded vehicle depth: 1701.391262 # Seafloor depth: -1751.391262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.697600 meters # Minimum depth: 1756.422976 meters looking forward 100.000000 meters along route # Maximum depth: 1758.448101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.422976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074940; longitude = -129.981315; duration = 410; initialDepth = 1706.793360; finalDepth = 1706.422976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0251249999999 # Actual altitude: 52.0251249999999 # Commanded vehicle depth: 1706.422976 # Seafloor depth: -1758.448101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.697951 meters # Minimum depth: 1756.793360 meters looking forward 100.000000 meters along route # Maximum depth: 1759.217914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.793360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074132; longitude = -129.981958; duration = 410; initialDepth = 1708.098679; finalDepth = 1706.793360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0251249999999 # Actual altitude: 52.0251249999999 # Commanded vehicle depth: 1706.79336 # Seafloor depth: -1757.601108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.698302 meters # Minimum depth: 1758.098679 meters looking forward 100.000000 meters along route # Maximum depth: 1762.838070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.098679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073323; longitude = -129.982602; duration = 410; initialDepth = 1709.915640; finalDepth = 1708.098679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8077480000002 # Actual altitude: 50.8077480000002 # Commanded vehicle depth: 1708.098679 # Seafloor depth: -1758.098679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.698652 meters # Minimum depth: 1759.915640 meters looking forward 100.000000 meters along route # Maximum depth: 1763.132006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.915640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072515; longitude = -129.983245; duration = 410; initialDepth = 1710.213356; finalDepth = 1709.915640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.410005 # Actual altitude: 52.410005 # Commanded vehicle depth: 1709.91564 # Seafloor depth: -1762.325645 # 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 38 # Segment length 102.699003 meters # Minimum depth: 1760.213356 meters looking forward 100.000000 meters along route # Maximum depth: 1762.334740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.213356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071706; longitude = -129.983889; duration = 410; initialDepth = 1703.405594; finalDepth = 1710.213356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.410005 # Actual altitude: 52.410005 # Commanded vehicle depth: 1710.213356 # Seafloor depth: -1761.746101 # 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 38 # Segment length 102.699354 meters # Minimum depth: 1753.405594 meters looking forward 100.000000 meters along route # Maximum depth: 1761.285383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.405594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070898; longitude = -129.984532; duration = 410; initialDepth = 1699.054266; finalDepth = 1703.405594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8698469999999 # Actual altitude: 57.8698469999999 # Commanded vehicle depth: 1703.405594 # Seafloor depth: -1761.275441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.699704 meters # Minimum depth: 1749.054266 meters looking forward 100.000000 meters along route # Maximum depth: 1753.023214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.054266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070089; longitude = -129.985176; duration = 410; initialDepth = 1695.542744; finalDepth = 1699.054266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8698469999999 # Actual altitude: 57.8698469999999 # Commanded vehicle depth: 1699.054266 # Seafloor depth: -1753.023214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.700055 meters # Minimum depth: 1745.542744 meters looking forward 100.000000 meters along route # Maximum depth: 1748.843462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.542744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069281; longitude = -129.985819; duration = 410; initialDepth = 1695.339827; finalDepth = 1695.542744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.968948 # Actual altitude: 53.968948 # Commanded vehicle depth: 1695.542744 # Seafloor depth: -1748.459823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.700406 meters # Minimum depth: 1745.339827 meters looking forward 100.000000 meters along route # Maximum depth: 1747.650656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.339827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068472; longitude = -129.986463; duration = 410; initialDepth = 1689.461300; finalDepth = 1695.339827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9170789999998 # Actual altitude: 52.9170789999998 # Commanded vehicle depth: 1695.339827 # Seafloor depth: -1747.650656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.700757 meters # Minimum depth: 1739.461300 meters looking forward 100.000000 meters along route # Maximum depth: 1745.261411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.461300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067664; longitude = -129.987106; duration = 410; initialDepth = 1686.070950; finalDepth = 1689.461300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.800111 # Actual altitude: 55.800111 # Commanded vehicle depth: 1689.4613 # Seafloor depth: -1745.261411 # 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 38 # Segment length 102.701107 meters # Minimum depth: 1736.070950 meters looking forward 100.000000 meters along route # Maximum depth: 1739.130741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.070950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066855; longitude = -129.987749; duration = 410; initialDepth = 1681.375560; finalDepth = 1686.070950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.800111 # Actual altitude: 55.800111 # Commanded vehicle depth: 1686.07095 # Seafloor depth: -1739.130741 # 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 38 # Segment length 102.701458 meters # Minimum depth: 1731.375560 meters looking forward 100.000000 meters along route # Maximum depth: 1735.190798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.375560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066047; longitude = -129.988393; duration = 410; initialDepth = 1680.211406; finalDepth = 1681.375560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8152380000001 # Actual altitude: 53.8152380000001 # Commanded vehicle depth: 1681.37556 # Seafloor depth: -1735.190798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.701809 meters # Minimum depth: 1730.211406 meters looking forward 100.000000 meters along route # Maximum depth: 1732.145603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.211406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065238; longitude = -129.989036; duration = 410; initialDepth = 1673.017661; finalDepth = 1680.211406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8152380000001 # Actual altitude: 53.8152380000001 # Commanded vehicle depth: 1680.211406 # Seafloor depth: -1732.145603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.702160 meters # Minimum depth: 1723.017661 meters looking forward 100.000000 meters along route # Maximum depth: 1728.279135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.017661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064430; longitude = -129.989680; duration = 410; initialDepth = 1662.174080; finalDepth = 1673.017661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2614739999999 # Actual altitude: 55.2614739999999 # Commanded vehicle depth: 1673.017661 # Seafloor depth: -1728.279135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.702510 meters # Minimum depth: 1712.174080 meters looking forward 100.000000 meters along route # Maximum depth: 1721.983589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.174080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063621; longitude = -129.990323; duration = 410; initialDepth = 1656.326357; finalDepth = 1662.174080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8095089999999 # Actual altitude: 59.8095089999999 # Commanded vehicle depth: 1662.17408 # Seafloor depth: -1721.983589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.702861 meters # Minimum depth: 1706.326357 meters looking forward 100.000000 meters along route # Maximum depth: 1713.692117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.326357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062813; longitude = -129.990967; duration = 410; initialDepth = 1646.623537; finalDepth = 1656.326357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8095089999999 # Actual altitude: 59.8095089999999 # Commanded vehicle depth: 1656.326357 # Seafloor depth: -1713.483846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.703212 meters # Minimum depth: 1696.623537 meters looking forward 100.000000 meters along route # Maximum depth: 1705.651704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.623537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062004; longitude = -129.991610; duration = 410; initialDepth = 1640.535679; finalDepth = 1646.623537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0281670000002 # Actual altitude: 59.0281670000002 # Commanded vehicle depth: 1646.623537 # Seafloor depth: -1705.651704 # 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 38 # Segment length 102.703562 meters # Minimum depth: 1690.535679 meters looking forward 100.000000 meters along route # Maximum depth: 1701.677403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.535679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061196; longitude = -129.992254; duration = 410; initialDepth = 1638.875674; finalDepth = 1640.535679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2925559999999 # Actual altitude: 59.2925559999999 # Commanded vehicle depth: 1640.535679 # Seafloor depth: -1699.828235 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.703913 meters # Minimum depth: 1688.875674 meters looking forward 100.000000 meters along route # Maximum depth: 1694.890558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.875674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060387; longitude = -129.992897; duration = 410; initialDepth = 1628.733419; finalDepth = 1638.875674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2925559999999 # Actual altitude: 59.2925559999999 # Commanded vehicle depth: 1638.875674 # Seafloor depth: -1691.247859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.704265 meters # Minimum depth: 1678.733419 meters looking forward 100.000000 meters along route # Maximum depth: 1687.094744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.733419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059579; longitude = -129.993540; duration = 410; initialDepth = 1607.780424; finalDepth = 1628.733419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3613250000001 # Actual altitude: 58.3613250000001 # Commanded vehicle depth: 1628.733419 # Seafloor depth: -1687.094744 # 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 38 # Segment length 102.704614 meters # Minimum depth: 1657.780424 meters looking forward 100.000000 meters along route # Maximum depth: 1678.324979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.780424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058770; longitude = -129.994184; duration = 410; initialDepth = 1608.031219; finalDepth = 1607.780424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1228249999999 # Actual altitude: 70.1228249999999 # Commanded vehicle depth: 1607.780424 # Seafloor depth: -1677.903249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.704966 meters # Minimum depth: 1658.031219 meters looking forward 100.000000 meters along route # Maximum depth: 1671.193269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.031219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057962; longitude = -129.994827; duration = 410; initialDepth = 1614.156953; finalDepth = 1608.031219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1228249999999 # Actual altitude: 70.1228249999999 # Commanded vehicle depth: 1608.031219 # Seafloor depth: -1671.193269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.705317 meters # Minimum depth: 1664.156953 meters looking forward 100.000000 meters along route # Maximum depth: 1672.883012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.156953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057153; longitude = -129.995471; duration = 410; initialDepth = 1623.188050; finalDepth = 1614.156953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1620500000001 # Actual altitude: 63.1620500000001 # Commanded vehicle depth: 1614.156953 # Seafloor depth: -1664.732724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.705667 meters # Minimum depth: 1673.188050 meters looking forward 100.000000 meters along route # Maximum depth: 1678.258138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.188050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056345; longitude = -129.996114; duration = 410; initialDepth = 1627.718729; finalDepth = 1623.188050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.575771 # Actual altitude: 50.575771 # Commanded vehicle depth: 1623.18805 # Seafloor depth: -1673.188050 # 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 38 # Segment length 102.706018 meters # Minimum depth: 1677.718729 meters looking forward 100.000000 meters along route # Maximum depth: 1684.632744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.718729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055536; longitude = -129.996758; duration = 410; initialDepth = 1624.400779; finalDepth = 1627.718729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.085417 # Actual altitude: 52.085417 # Commanded vehicle depth: 1627.718729 # Seafloor depth: -1679.804146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 102.706369 meters # Minimum depth: 1674.400779 meters looking forward 100.000000 meters along route # Maximum depth: 1685.800357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.400779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054728; longitude = -129.997401; duration = 410; initialDepth = 1633.235043; finalDepth = 1624.400779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4878859999999 # Actual altitude: 54.4878859999999 # Commanded vehicle depth: 1624.400779 # Seafloor depth: -1678.888665 # 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 38 # Segment length 102.706720 meters # Minimum depth: 1683.235043 meters looking forward 100.000000 meters along route # Maximum depth: 1687.573246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.235043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053919; longitude = -129.998044; duration = 410; initialDepth = 1631.251092; finalDepth = 1633.235043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4878859999999 # Actual altitude: 54.4878859999999 # Commanded vehicle depth: 1633.235043 # Seafloor depth: -1684.021569 # 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 38 # Segment length 102.707070 meters # Minimum depth: 1681.251092 meters looking forward 100.000000 meters along route # Maximum depth: 1687.033652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.251092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053111; longitude = -129.998688; duration = 410; initialDepth = 1631.220295; finalDepth = 1631.251092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1180079999999 # Actual altitude: 55.1180079999999 # Commanded vehicle depth: 1631.251092 # Seafloor depth: -1686.369100 # 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 38 # Segment length 106.091792 meters # Minimum depth: 1681.220295 meters looking forward 100.000000 meters along route # Maximum depth: 1683.544805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.220295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052302; longitude = -129.999331; duration = 424; initialDepth = 1631.429140; finalDepth = 1631.220295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.1180079999999 # Actual altitude: 55.1180079999999 # Commanded vehicle depth: 1631.220295 # Seafloor depth: -1683.515461 # 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; } # ####################################################### # # 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 37 # Segment length 147.897012 meters # Minimum depth: 1681.429140 meters looking forward 100.000000 meters along route # Maximum depth: 1684.531655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.429140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.051467; longitude = -129.999996; duration = 591; # abortOnTimeout = True; initialDepth = 1632.021859; finalDepth = 1631.429140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.2951659999999 # Actual altitude: 52.2951659999999 # Commanded vehicle depth: 1631.42914 # Seafloor depth: -1682.055847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 36 # Segment length 116.005084 meters # Minimum depth: 1682.021859 meters looking forward 100.000000 meters along route # Maximum depth: 1685.427816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.021859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052111; longitude = -130.001669; duration = 464; # abortOnTimeout = True; initialDepth = 1633.854390; finalDepth = 1632.021859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0092990000001 # Actual altitude: 51.0092990000001 # Commanded vehicle depth: 1632.021859 # Seafloor depth: -1683.031158 # 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 36 # Segment length 102.384184 meters # Minimum depth: 1683.854390 meters looking forward 100.000000 meters along route # Maximum depth: 1685.631811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.854390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053023; longitude = -130.000940; duration = 409; initialDepth = 1634.526534; finalDepth = 1633.854390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1563980000001 # Actual altitude: 51.1563980000001 # Commanded vehicle depth: 1633.85439 # Seafloor depth: -1685.010788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.383833 meters # Minimum depth: 1684.526534 meters looking forward 100.000000 meters along route # Maximum depth: 1686.714577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.526534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053828; longitude = -130.000297; duration = 409; initialDepth = 1634.723931; finalDepth = 1634.526534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1563980000001 # Actual altitude: 51.1563980000001 # Commanded vehicle depth: 1634.526534 # Seafloor depth: -1685.228743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.383482 meters # Minimum depth: 1684.723931 meters looking forward 100.000000 meters along route # Maximum depth: 1688.797957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.723931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054634; longitude = -129.999653; duration = 409; initialDepth = 1637.388380; finalDepth = 1634.723931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2715470000001 # Actual altitude: 51.2715470000001 # Commanded vehicle depth: 1634.723931 # Seafloor depth: -1685.995478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.383132 meters # Minimum depth: 1687.388380 meters looking forward 100.000000 meters along route # Maximum depth: 1689.662630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.388380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055439; longitude = -129.999010; duration = 409; initialDepth = 1639.960368; finalDepth = 1637.388380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2715470000001 # Actual altitude: 51.2715470000001 # Commanded vehicle depth: 1637.38838 # Seafloor depth: -1687.388380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.382782 meters # Minimum depth: 1689.960368 meters looking forward 100.000000 meters along route # Maximum depth: 1692.145106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.960368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056244; longitude = -129.998366; duration = 409; initialDepth = 1640.203642; finalDepth = 1639.960368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1639.960368 # Seafloor depth: -1689.960368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.382431 meters # Minimum depth: 1690.203642 meters looking forward 100.000000 meters along route # Maximum depth: 1693.855911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.203642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057049; longitude = -129.997723; duration = 409; initialDepth = 1640.784627; finalDepth = 1640.203642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9687570000001 # Actual altitude: 51.9687570000001 # Commanded vehicle depth: 1640.203642 # Seafloor depth: -1692.172399 # 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 36 # Segment length 102.382080 meters # Minimum depth: 1690.784627 meters looking forward 100.000000 meters along route # Maximum depth: 1694.422162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.784627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057854; longitude = -129.997079; duration = 409; initialDepth = 1643.663036; finalDepth = 1640.784627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9687570000001 # Actual altitude: 51.9687570000001 # Commanded vehicle depth: 1640.784627 # Seafloor depth: -1691.677022 # 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 36 # Segment length 102.381730 meters # Minimum depth: 1693.663036 meters looking forward 100.000000 meters along route # Maximum depth: 1697.696187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.663036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058660; longitude = -129.996436; duration = 409; initialDepth = 1646.802543; finalDepth = 1643.663036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8923950000001 # Actual altitude: 50.8923950000001 # Commanded vehicle depth: 1643.663036 # Seafloor depth: -1693.663036 # 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 36 # Segment length 102.381379 meters # Minimum depth: 1696.802543 meters looking forward 100.000000 meters along route # Maximum depth: 1701.213802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.802543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059465; longitude = -129.995792; duration = 409; initialDepth = 1651.403532; finalDepth = 1646.802543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1646.802543 # Seafloor depth: -1696.802543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.381029 meters # Minimum depth: 1701.403532 meters looking forward 100.000000 meters along route # Maximum depth: 1704.070884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.403532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060270; longitude = -129.995149; duration = 409; initialDepth = 1651.236850; finalDepth = 1651.403532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1651.403532 # Seafloor depth: -1701.403532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.380678 meters # Minimum depth: 1701.236850 meters looking forward 100.000000 meters along route # Maximum depth: 1705.243823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.236850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061075; longitude = -129.994506; duration = 409; initialDepth = 1653.774419; finalDepth = 1651.236850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9204649999999 # Actual altitude: 51.9204649999999 # Commanded vehicle depth: 1651.23685 # Seafloor depth: -1703.157315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.380328 meters # Minimum depth: 1703.774419 meters looking forward 100.000000 meters along route # Maximum depth: 1708.832478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.774419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061880; longitude = -129.993862; duration = 409; initialDepth = 1657.987017; finalDepth = 1653.774419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9204649999999 # Actual altitude: 51.9204649999999 # Commanded vehicle depth: 1653.774419 # Seafloor depth: -1703.774419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.379977 meters # Minimum depth: 1707.987017 meters looking forward 100.000000 meters along route # Maximum depth: 1713.088901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.987017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062685; longitude = -129.993219; duration = 409; initialDepth = 1664.583992; finalDepth = 1657.987017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7486640000002 # Actual altitude: 50.7486640000002 # Commanded vehicle depth: 1657.987017 # Seafloor depth: -1708.735681 # 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 36 # Segment length 102.379627 meters # Minimum depth: 1714.583992 meters looking forward 100.000000 meters along route # Maximum depth: 1717.987534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.583992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063491; longitude = -129.992575; duration = 409; initialDepth = 1668.794004; finalDepth = 1664.583992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7486640000002 # Actual altitude: 50.7486640000002 # Commanded vehicle depth: 1664.583992 # Seafloor depth: -1714.583992 # 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 36 # Segment length 102.379276 meters # Minimum depth: 1718.794004 meters looking forward 100.000000 meters along route # Maximum depth: 1722.911863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.794004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064296; longitude = -129.991932; duration = 409; initialDepth = 1673.256946; finalDepth = 1668.794004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5063169999999 # Actual altitude: 51.5063169999999 # Commanded vehicle depth: 1668.794004 # Seafloor depth: -1720.300321 # 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 36 # Segment length 102.378926 meters # Minimum depth: 1723.256946 meters looking forward 100.000000 meters along route # Maximum depth: 1726.837544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.256946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065101; longitude = -129.991288; duration = 409; initialDepth = 1677.730561; finalDepth = 1673.256946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5063169999999 # Actual altitude: 51.5063169999999 # Commanded vehicle depth: 1673.256946 # Seafloor depth: -1723.817833 # 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 36 # Segment length 102.378575 meters # Minimum depth: 1727.730561 meters looking forward 100.000000 meters along route # Maximum depth: 1732.371178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.730561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065906; longitude = -129.990645; duration = 409; initialDepth = 1681.976526; finalDepth = 1677.730561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5608870000001 # Actual altitude: 50.5608870000001 # Commanded vehicle depth: 1677.730561 # Seafloor depth: -1727.730561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.378225 meters # Minimum depth: 1731.976526 meters looking forward 100.000000 meters along route # Maximum depth: 1737.412971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.976526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066711; longitude = -129.990001; duration = 409; initialDepth = 1687.626271; finalDepth = 1681.976526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5450230000001 # Actual altitude: 50.5450230000001 # Commanded vehicle depth: 1681.976526 # Seafloor depth: -1732.521549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.377875 meters # Minimum depth: 1737.626271 meters looking forward 100.000000 meters along route # Maximum depth: 1742.183888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.626271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067517; longitude = -129.989358; duration = 409; initialDepth = 1692.591646; finalDepth = 1687.626271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5450230000001 # Actual altitude: 50.5450230000001 # Commanded vehicle depth: 1687.626271 # Seafloor depth: -1737.626271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.377523 meters # Minimum depth: 1742.591646 meters looking forward 100.000000 meters along route # Maximum depth: 1747.810089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.591646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068322; longitude = -129.988715; duration = 409; initialDepth = 1691.025579; finalDepth = 1692.591646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6479869999998 # Actual altitude: 50.6479869999998 # Commanded vehicle depth: 1692.591646 # Seafloor depth: -1743.239633 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.377174 meters # Minimum depth: 1741.025579 meters looking forward 100.000000 meters along route # Maximum depth: 1749.839182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.025579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069127; longitude = -129.988071; duration = 409; initialDepth = 1684.068496; finalDepth = 1691.025579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.167561 # Actual altitude: 58.167561 # Commanded vehicle depth: 1691.025579 # Seafloor depth: -1749.193140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.376823 meters # Minimum depth: 1734.068496 meters looking forward 100.000000 meters along route # Maximum depth: 1744.326236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.068496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069932; longitude = -129.987428; duration = 409; initialDepth = 1694.994203; finalDepth = 1684.068496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.167561 # Actual altitude: 58.167561 # Commanded vehicle depth: 1684.068496 # Seafloor depth: -1741.027249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.376472 meters # Minimum depth: 1744.994203 meters looking forward 100.000000 meters along route # Maximum depth: 1750.512689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.994203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070737; longitude = -129.986784; duration = 409; initialDepth = 1700.753484; finalDepth = 1694.994203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9587529999999 # Actual altitude: 56.9587529999999 # Commanded vehicle depth: 1694.994203 # Seafloor depth: -1744.994203 # 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 36 # Segment length 102.376122 meters # Minimum depth: 1750.753484 meters looking forward 100.000000 meters along route # Maximum depth: 1759.481495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.753484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071542; longitude = -129.986141; duration = 409; initialDepth = 1707.127076; finalDepth = 1700.753484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.753484 # Seafloor depth: -1750.753484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.375772 meters # Minimum depth: 1757.127076 meters looking forward 100.000000 meters along route # Maximum depth: 1759.855558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.127076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072348; longitude = -129.985497; duration = 409; initialDepth = 1707.836456; finalDepth = 1707.127076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.00503 # Actual altitude: 51.00503 # Commanded vehicle depth: 1707.127076 # Seafloor depth: -1758.132106 # 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 36 # Segment length 102.375421 meters # Minimum depth: 1757.836456 meters looking forward 100.000000 meters along route # Maximum depth: 1759.213296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.836456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073153; longitude = -129.984854; duration = 409; initialDepth = 1705.729562; finalDepth = 1707.836456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.00503 # Actual altitude: 51.00503 # Commanded vehicle depth: 1707.836456 # Seafloor depth: -1758.641297 # 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 36 # Segment length 102.375071 meters # Minimum depth: 1755.729562 meters looking forward 100.000000 meters along route # Maximum depth: 1758.397980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.729562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073958; longitude = -129.984210; duration = 409; initialDepth = 1705.410932; finalDepth = 1705.729562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.668418 # Actual altitude: 52.668418 # Commanded vehicle depth: 1705.729562 # Seafloor depth: -1758.397980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.374720 meters # Minimum depth: 1755.410932 meters looking forward 100.000000 meters along route # Maximum depth: 1757.943466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.410932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074763; longitude = -129.983567; duration = 409; initialDepth = 1689.289676; finalDepth = 1705.410932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.668418 # Actual altitude: 52.668418 # Commanded vehicle depth: 1705.410932 # Seafloor depth: -1757.943466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.374370 meters # Minimum depth: 1739.289676 meters looking forward 100.000000 meters along route # Maximum depth: 1754.939866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.289676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075568; longitude = -129.982924; duration = 409; initialDepth = 1683.273678; finalDepth = 1689.289676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6501899999998 # Actual altitude: 65.6501899999998 # Commanded vehicle depth: 1689.289676 # Seafloor depth: -1754.939866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.374020 meters # Minimum depth: 1733.273678 meters looking forward 100.000000 meters along route # Maximum depth: 1739.730144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.273678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076373; longitude = -129.982280; duration = 409; initialDepth = 1681.711535; finalDepth = 1683.273678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6501899999998 # Actual altitude: 65.6501899999998 # Commanded vehicle depth: 1683.273678 # Seafloor depth: -1739.730144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.373669 meters # Minimum depth: 1731.711535 meters looking forward 100.000000 meters along route # Maximum depth: 1735.624968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.711535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077179; longitude = -129.981637; duration = 409; initialDepth = 1678.481497; finalDepth = 1681.711535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4564660000001 # Actual altitude: 56.4564660000001 # Commanded vehicle depth: 1681.711535 # Seafloor depth: -1735.066895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.373319 meters # Minimum depth: 1728.481497 meters looking forward 100.000000 meters along route # Maximum depth: 1734.582871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.481497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077984; longitude = -129.980993; duration = 409; initialDepth = 1675.236917; finalDepth = 1678.481497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2337199999999 # Actual altitude: 55.2337199999999 # Commanded vehicle depth: 1678.481497 # Seafloor depth: -1733.715217 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.372968 meters # Minimum depth: 1725.236917 meters looking forward 100.000000 meters along route # Maximum depth: 1727.557550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.236917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078789; longitude = -129.980350; duration = 409; initialDepth = 1674.079048; finalDepth = 1675.236917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2337199999999 # Actual altitude: 55.2337199999999 # Commanded vehicle depth: 1675.236917 # Seafloor depth: -1726.450925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.372618 meters # Minimum depth: 1724.079048 meters looking forward 100.000000 meters along route # Maximum depth: 1735.351779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.079048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079594; longitude = -129.979706; duration = 409; initialDepth = 1681.760576; finalDepth = 1674.079048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2371599999999 # Actual altitude: 51.2371599999999 # Commanded vehicle depth: 1674.079048 # Seafloor depth: -1725.316208 # 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 36 # Segment length 102.372268 meters # Minimum depth: 1731.760576 meters looking forward 100.000000 meters along route # Maximum depth: 1734.841808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.760576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080399; longitude = -129.979063; duration = 409; initialDepth = 1683.395837; finalDepth = 1681.760576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2371599999999 # Actual altitude: 51.2371599999999 # Commanded vehicle depth: 1681.760576 # Seafloor depth: -1732.040459 # 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 36 # Segment length 102.371917 meters # Minimum depth: 1733.395837 meters looking forward 100.000000 meters along route # Maximum depth: 1735.763656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.395837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081205; longitude = -129.978420; duration = 409; initialDepth = 1678.620493; finalDepth = 1683.395837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3678190000001 # Actual altitude: 52.3678190000001 # Commanded vehicle depth: 1683.395837 # Seafloor depth: -1735.763656 # 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 36 # Segment length 102.371567 meters # Minimum depth: 1728.620493 meters looking forward 100.000000 meters along route # Maximum depth: 1733.919048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.620493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082010; longitude = -129.977776; duration = 409; initialDepth = 1677.386819; finalDepth = 1678.620493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2985550000001 # Actual altitude: 55.2985550000001 # Commanded vehicle depth: 1678.620493 # Seafloor depth: -1733.919048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.371217 meters # Minimum depth: 1727.386819 meters looking forward 100.000000 meters along route # Maximum depth: 1730.184016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.386819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082815; longitude = -129.977133; duration = 409; initialDepth = 1676.712090; finalDepth = 1677.386819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2985550000001 # Actual altitude: 55.2985550000001 # Commanded vehicle depth: 1677.386819 # Seafloor depth: -1730.017766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 102.370866 meters # Minimum depth: 1726.712090 meters looking forward 100.000000 meters along route # Maximum depth: 1728.541020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.712090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083620; longitude = -129.976489; duration = 409; initialDepth = 1679.352685; finalDepth = 1676.712090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6309469999999 # Actual altitude: 52.6309469999999 # Commanded vehicle depth: 1676.71209 # Seafloor depth: -1728.095641 # 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 36 # Segment length 102.370516 meters # Minimum depth: 1729.352685 meters looking forward 100.000000 meters along route # Maximum depth: 1745.053009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.352685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084425; longitude = -129.975846; duration = 409; initialDepth = 1692.998121; finalDepth = 1679.352685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3835509999999 # Actual altitude: 51.3835509999999 # Commanded vehicle depth: 1679.352685 # Seafloor depth: -1729.352685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.848608 meters # Minimum depth: 1742.998121 meters looking forward 100.000000 meters along route # Maximum depth: 1748.813880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.998121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085230; longitude = -129.975202; duration = 423; initialDepth = 1689.729943; finalDepth = 1692.998121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.9117959999999 # Actual altitude: 53.9117959999999 # Commanded vehicle depth: 1692.998121 # Seafloor depth: -1746.909917 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 155.449544 meters # Minimum depth: 1739.729943 meters looking forward 100.000000 meters along route # Maximum depth: 1748.497833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.729943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086063; longitude = -129.974537; duration = 621; # abortOnTimeout = True; initialDepth = 1689.959446; finalDepth = 1689.729943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.7678899999999 # Actual altitude: 58.7678899999999 # Commanded vehicle depth: 1689.729943 # Seafloor depth: -1748.497833 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 109.477668 meters # Minimum depth: 1739.959446 meters looking forward 100.000000 meters along route # Maximum depth: 1749.640349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.959446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086792; longitude = -129.976253; duration = 437; # abortOnTimeout = True; initialDepth = 1678.444832; finalDepth = 1689.959446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7678899999999 # Actual altitude: 58.7678899999999 # Commanded vehicle depth: 1689.959446 # Seafloor depth: -1742.573761 # 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 34 # Segment length 102.596933 meters # Minimum depth: 1728.444832 meters looking forward 100.000000 meters along route # Maximum depth: 1740.624617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.444832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085930; longitude = -129.976940; duration = 410; initialDepth = 1673.868689; finalDepth = 1678.444832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.179785 # Actual altitude: 62.179785 # Commanded vehicle depth: 1678.444832 # Seafloor depth: -1740.624617 # 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 34 # Segment length 102.597284 meters # Minimum depth: 1723.868689 meters looking forward 100.000000 meters along route # Maximum depth: 1728.271429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.868689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085123; longitude = -129.977583; duration = 410; initialDepth = 1671.388965; finalDepth = 1673.868689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.179785 # Actual altitude: 62.179785 # Commanded vehicle depth: 1673.868689 # Seafloor depth: -1726.339964 # 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 34 # Segment length 102.597634 meters # Minimum depth: 1721.388965 meters looking forward 100.000000 meters along route # Maximum depth: 1723.958428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.388965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084315; longitude = -129.978226; duration = 410; initialDepth = 1671.242608; finalDepth = 1671.388965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5694629999998 # Actual altitude: 52.5694629999998 # Commanded vehicle depth: 1671.388965 # Seafloor depth: -1723.958428 # 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 34 # Segment length 102.597985 meters # Minimum depth: 1721.242608 meters looking forward 100.000000 meters along route # Maximum depth: 1723.614414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.242608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083508; longitude = -129.978870; duration = 410; initialDepth = 1671.701540; finalDepth = 1671.242608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5694629999998 # Actual altitude: 52.5694629999998 # Commanded vehicle depth: 1671.242608 # Seafloor depth: -1723.614414 # 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 34 # Segment length 102.598335 meters # Minimum depth: 1721.701540 meters looking forward 100.000000 meters along route # Maximum depth: 1726.352881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.701540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082700; longitude = -129.979513; duration = 410; initialDepth = 1675.171589; finalDepth = 1671.701540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3718059999999 # Actual altitude: 52.3718059999999 # Commanded vehicle depth: 1671.70154 # Seafloor depth: -1721.851718 # 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 34 # Segment length 102.598686 meters # Minimum depth: 1725.171589 meters looking forward 100.000000 meters along route # Maximum depth: 1727.650438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.171589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081893; longitude = -129.980157; duration = 410; initialDepth = 1675.913231; finalDepth = 1675.171589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1501779999999 # Actual altitude: 50.1501779999999 # Commanded vehicle depth: 1675.171589 # Seafloor depth: -1725.171589 # 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 34 # Segment length 102.599037 meters # Minimum depth: 1725.913231 meters looking forward 100.000000 meters along route # Maximum depth: 1729.201707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.913231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081085; longitude = -129.980800; duration = 410; initialDepth = 1675.084050; finalDepth = 1675.913231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1788059999999 # Actual altitude: 52.1788059999999 # Commanded vehicle depth: 1675.913231 # Seafloor depth: -1728.092037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.599387 meters # Minimum depth: 1725.084050 meters looking forward 100.000000 meters along route # Maximum depth: 1728.601680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.084050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080278; longitude = -129.981444; duration = 410; initialDepth = 1677.887309; finalDepth = 1675.084050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1788059999999 # Actual altitude: 52.1788059999999 # Commanded vehicle depth: 1675.08405 # Seafloor depth: -1726.038457 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.599738 meters # Minimum depth: 1727.887309 meters looking forward 100.000000 meters along route # Maximum depth: 1730.678471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.887309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079470; longitude = -129.982087; duration = 410; initialDepth = 1678.868385; finalDepth = 1677.887309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9544070000002 # Actual altitude: 50.9544070000002 # Commanded vehicle depth: 1677.887309 # Seafloor depth: -1728.498408 # 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 34 # Segment length 102.600088 meters # Minimum depth: 1728.868385 meters looking forward 100.000000 meters along route # Maximum depth: 1731.078495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.868385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078663; longitude = -129.982731; duration = 410; initialDepth = 1678.270716; finalDepth = 1678.868385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9258600000001 # Actual altitude: 51.9258600000001 # Commanded vehicle depth: 1678.868385 # Seafloor depth: -1730.794245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.600439 meters # Minimum depth: 1728.270716 meters looking forward 100.000000 meters along route # Maximum depth: 1730.797093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.270716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077855; longitude = -129.983374; duration = 410; initialDepth = 1681.512453; finalDepth = 1678.270716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9258600000001 # Actual altitude: 51.9258600000001 # Commanded vehicle depth: 1678.270716 # Seafloor depth: -1729.318301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.600789 meters # Minimum depth: 1731.512453 meters looking forward 100.000000 meters along route # Maximum depth: 1741.058720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.512453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077048; longitude = -129.984017; duration = 410; initialDepth = 1684.314736; finalDepth = 1681.512453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.047585 # Actual altitude: 51.047585 # Commanded vehicle depth: 1681.512453 # Seafloor depth: -1731.512453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.601141 meters # Minimum depth: 1734.314736 meters looking forward 100.000000 meters along route # Maximum depth: 1739.973973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.314736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076240; longitude = -129.984661; duration = 410; initialDepth = 1670.550612; finalDepth = 1684.314736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.625458 # Actual altitude: 55.625458 # Commanded vehicle depth: 1684.314736 # Seafloor depth: -1739.940194 # 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 34 # Segment length 102.601490 meters # Minimum depth: 1720.550612 meters looking forward 100.000000 meters along route # Maximum depth: 1734.713762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.550612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075433; longitude = -129.985304; duration = 410; initialDepth = 1682.788578; finalDepth = 1670.550612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1631500000001 # Actual altitude: 64.1631500000001 # Commanded vehicle depth: 1670.550612 # Seafloor depth: -1734.713762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.601842 meters # Minimum depth: 1732.788578 meters looking forward 100.000000 meters along route # Maximum depth: 1744.574358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.788578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074625; longitude = -129.985948; duration = 410; initialDepth = 1682.003008; finalDepth = 1682.788578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1631500000001 # Actual altitude: 64.1631500000001 # Commanded vehicle depth: 1682.788578 # Seafloor depth: -1732.788578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.602192 meters # Minimum depth: 1732.003008 meters looking forward 100.000000 meters along route # Maximum depth: 1746.724710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.003008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073818; longitude = -129.986591; duration = 410; initialDepth = 1664.878004; finalDepth = 1682.003008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.021193 # Actual altitude: 64.021193 # Commanded vehicle depth: 1682.003008 # Seafloor depth: -1746.024201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.602542 meters # Minimum depth: 1714.878004 meters looking forward 100.000000 meters along route # Maximum depth: 1731.911986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.878004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073010; longitude = -129.987235; duration = 410; initialDepth = 1639.419497; finalDepth = 1664.878004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0339820000002 # Actual altitude: 67.0339820000002 # Commanded vehicle depth: 1664.878004 # Seafloor depth: -1731.911986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.602894 meters # Minimum depth: 1689.419497 meters looking forward 100.000000 meters along route # Maximum depth: 1714.044927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.419497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072203; longitude = -129.987878; duration = 410; initialDepth = 1644.081312; finalDepth = 1639.419497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.6254299999998 # Actual altitude: 74.6254299999998 # Commanded vehicle depth: 1639.419497 # Seafloor depth: -1714.044927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.603244 meters # Minimum depth: 1694.081312 meters looking forward 100.000000 meters along route # Maximum depth: 1702.757850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.081312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071395; longitude = -129.988522; duration = 410; initialDepth = 1648.944905; finalDepth = 1644.081312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.6254299999998 # Actual altitude: 74.6254299999998 # Commanded vehicle depth: 1644.081312 # Seafloor depth: -1694.081312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.603594 meters # Minimum depth: 1698.944905 meters looking forward 100.000000 meters along route # Maximum depth: 1723.341398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.944905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070588; longitude = -129.989165; duration = 410; initialDepth = 1671.976932; finalDepth = 1648.944905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.494248 # Actual altitude: 50.494248 # Commanded vehicle depth: 1648.944905 # Seafloor depth: -1699.439153 # 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 34 # Segment length 102.603946 meters # Minimum depth: 1721.976932 meters looking forward 100.000000 meters along route # Maximum depth: 1727.454106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.976932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069780; longitude = -129.989808; duration = 410; initialDepth = 1674.245193; finalDepth = 1671.976932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.108397 # Actual altitude: 51.108397 # Commanded vehicle depth: 1671.976932 # Seafloor depth: -1723.085329 # 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 34 # Segment length 102.604296 meters # Minimum depth: 1724.245193 meters looking forward 100.000000 meters along route # Maximum depth: 1726.628224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.245193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068973; longitude = -129.990452; duration = 410; initialDepth = 1670.899724; finalDepth = 1674.245193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.250546 # Actual altitude: 51.250546 # Commanded vehicle depth: 1674.245193 # Seafloor depth: -1725.495739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.604646 meters # Minimum depth: 1720.899724 meters looking forward 100.000000 meters along route # Maximum depth: 1724.340862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.899724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068165; longitude = -129.991095; duration = 410; initialDepth = 1662.733062; finalDepth = 1670.899724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4411379999999 # Actual altitude: 53.4411379999999 # Commanded vehicle depth: 1670.899724 # Seafloor depth: -1724.340862 # 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 34 # Segment length 102.604998 meters # Minimum depth: 1712.733062 meters looking forward 100.000000 meters along route # Maximum depth: 1720.207498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.733062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067358; longitude = -129.991739; duration = 410; initialDepth = 1665.768153; finalDepth = 1662.733062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.474436 # Actual altitude: 57.474436 # Commanded vehicle depth: 1662.733062 # Seafloor depth: -1720.207498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.605348 meters # Minimum depth: 1715.768153 meters looking forward 100.000000 meters along route # Maximum depth: 1722.868811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.768153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066550; longitude = -129.992382; duration = 410; initialDepth = 1666.552874; finalDepth = 1665.768153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.474436 # Actual altitude: 57.474436 # Commanded vehicle depth: 1665.768153 # Seafloor depth: -1715.768153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.605698 meters # Minimum depth: 1716.552874 meters looking forward 100.000000 meters along route # Maximum depth: 1720.072246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.552874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065743; longitude = -129.993026; duration = 410; initialDepth = 1660.662633; finalDepth = 1666.552874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.519372 # Actual altitude: 53.519372 # Commanded vehicle depth: 1666.552874 # Seafloor depth: -1720.072246 # 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 34 # Segment length 102.606050 meters # Minimum depth: 1710.662633 meters looking forward 100.000000 meters along route # Maximum depth: 1715.529925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.662633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064935; longitude = -129.993669; duration = 410; initialDepth = 1658.154447; finalDepth = 1660.662633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1750790000001 # Actual altitude: 54.1750790000001 # Commanded vehicle depth: 1660.662633 # Seafloor depth: -1714.837712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.606400 meters # Minimum depth: 1708.154447 meters looking forward 100.000000 meters along route # Maximum depth: 1711.568405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.154447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064127; longitude = -129.994313; duration = 410; initialDepth = 1653.010431; finalDepth = 1658.154447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1750790000001 # Actual altitude: 54.1750790000001 # Commanded vehicle depth: 1658.154447 # Seafloor depth: -1711.568405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.606751 meters # Minimum depth: 1703.010431 meters looking forward 100.000000 meters along route # Maximum depth: 1706.615477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.010431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063320; longitude = -129.994956; duration = 410; initialDepth = 1652.406359; finalDepth = 1653.010431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6050460000001 # Actual altitude: 53.6050460000001 # Commanded vehicle depth: 1653.010431 # Seafloor depth: -1706.615477 # 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 34 # Segment length 102.607102 meters # Minimum depth: 1702.406359 meters looking forward 100.000000 meters along route # Maximum depth: 1704.252338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.406359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062512; longitude = -129.995599; duration = 410; initialDepth = 1649.803421; finalDepth = 1652.406359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6050460000001 # Actual altitude: 53.6050460000001 # Commanded vehicle depth: 1652.406359 # Seafloor depth: -1702.825676 # 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 34 # Segment length 102.607452 meters # Minimum depth: 1699.803421 meters looking forward 100.000000 meters along route # Maximum depth: 1703.281341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.803421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061705; longitude = -129.996243; duration = 410; initialDepth = 1648.422860; finalDepth = 1649.803421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.47792 # Actual altitude: 53.47792 # Commanded vehicle depth: 1649.803421 # Seafloor depth: -1703.281341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.607803 meters # Minimum depth: 1698.422860 meters looking forward 100.000000 meters along route # Maximum depth: 1701.022443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.422860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060897; longitude = -129.996886; duration = 410; initialDepth = 1646.606118; finalDepth = 1648.422860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.47792 # Actual altitude: 53.47792 # Commanded vehicle depth: 1648.42286 # Seafloor depth: -1699.685390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.608154 meters # Minimum depth: 1696.606118 meters looking forward 100.000000 meters along route # Maximum depth: 1699.520295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.606118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060090; longitude = -129.997530; duration = 410; initialDepth = 1641.844090; finalDepth = 1646.606118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6097980000002 # Actual altitude: 51.6097980000002 # Commanded vehicle depth: 1646.606118 # Seafloor depth: -1698.215916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.608504 meters # Minimum depth: 1691.844090 meters looking forward 100.000000 meters along route # Maximum depth: 1697.477467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.844090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059282; longitude = -129.998173; duration = 410; initialDepth = 1642.888700; finalDepth = 1641.844090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4011370000001 # Actual altitude: 54.4011370000001 # Commanded vehicle depth: 1641.84409 # Seafloor depth: -1696.245227 # 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 34 # Segment length 102.608855 meters # Minimum depth: 1692.888700 meters looking forward 100.000000 meters along route # Maximum depth: 1695.400860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.888700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058475; longitude = -129.998817; duration = 410; initialDepth = 1641.958637; finalDepth = 1642.888700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4011370000001 # Actual altitude: 54.4011370000001 # Commanded vehicle depth: 1642.8887 # Seafloor depth: -1693.398909 # 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 34 # Segment length 102.609206 meters # Minimum depth: 1691.958637 meters looking forward 100.000000 meters along route # Maximum depth: 1694.978224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.958637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057667; longitude = -129.999460; duration = 410; initialDepth = 1637.990156; finalDepth = 1641.958637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.683458 # Actual altitude: 52.683458 # Commanded vehicle depth: 1641.958637 # Seafloor depth: -1694.642095 # 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 34 # Segment length 102.609557 meters # Minimum depth: 1687.990156 meters looking forward 100.000000 meters along route # Maximum depth: 1692.034623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.990156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056860; longitude = -130.000103; duration = 410; initialDepth = 1634.031011; finalDepth = 1637.990156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.575141 # Actual altitude: 53.575141 # Commanded vehicle depth: 1637.990156 # Seafloor depth: -1691.565297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.609908 meters # Minimum depth: 1684.031011 meters looking forward 100.000000 meters along route # Maximum depth: 1689.794283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.031011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056052; longitude = -130.000747; duration = 410; initialDepth = 1630.679497; finalDepth = 1634.031011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7632719999999 # Actual altitude: 55.7632719999999 # Commanded vehicle depth: 1634.031011 # Seafloor depth: -1689.794283 # 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 34 # Segment length 102.610258 meters # Minimum depth: 1680.679497 meters looking forward 100.000000 meters along route # Maximum depth: 1683.260552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.679497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055245; longitude = -130.001390; duration = 410; initialDepth = 1628.353837; finalDepth = 1630.679497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7632719999999 # Actual altitude: 55.7632719999999 # Commanded vehicle depth: 1630.679497 # Seafloor depth: -1682.782028 # 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 34 # Segment length 102.610609 meters # Minimum depth: 1678.353837 meters looking forward 100.000000 meters along route # Maximum depth: 1681.345347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.353837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054437; longitude = -130.002034; duration = 410; initialDepth = 1627.156278; finalDepth = 1628.353837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5560869999999 # Actual altitude: 52.5560869999999 # Commanded vehicle depth: 1628.353837 # Seafloor depth: -1680.909924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.610960 meters # Minimum depth: 1677.156278 meters looking forward 100.000000 meters along route # Maximum depth: 1678.990529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.156278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053630; longitude = -130.002677; duration = 410; initialDepth = 1623.680609; finalDepth = 1627.156278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5560869999999 # Actual altitude: 52.5560869999999 # Commanded vehicle depth: 1627.156278 # Seafloor depth: -1678.571700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 109.447260 meters # Minimum depth: 1673.680609 meters looking forward 100.000000 meters along route # Maximum depth: 1677.455701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.680609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052822; longitude = -130.003321; duration = 437; initialDepth = 1624.621205; finalDepth = 1623.680609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.567583 # Actual altitude: 53.567583 # Commanded vehicle depth: 1623.680609 # Seafloor depth: -1677.248192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 151.883075 meters # Minimum depth: 1674.621205 meters looking forward 100.000000 meters along route # Maximum depth: 1677.244785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.621205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.051961; longitude = -130.004007; duration = 607; # abortOnTimeout = True; initialDepth = 1625.632148; finalDepth = 1624.621205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.567583 # Actual altitude: 53.567583 # Commanded vehicle depth: 1624.621205 # Seafloor depth: -1677.233032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 116.124121 meters # Minimum depth: 1675.632148 meters looking forward 100.000000 meters along route # Maximum depth: 1680.001833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.632148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052625; longitude = -130.005723; duration = 464; # abortOnTimeout = True; initialDepth = 1626.828942; finalDepth = 1625.632148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6118270000002 # Actual altitude: 52.6118270000002 # Commanded vehicle depth: 1625.632148 # Seafloor depth: -1676.573486 # 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 32 # Segment length 102.444366 meters # Minimum depth: 1676.828942 meters looking forward 100.000000 meters along route # Maximum depth: 1686.987507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.828942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053538; longitude = -130.004994; duration = 409; initialDepth = 1629.329362; finalDepth = 1626.828942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0043739999999 # Actual altitude: 52.0043739999999 # Commanded vehicle depth: 1626.828942 # Seafloor depth: -1678.833316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.444015 meters # Minimum depth: 1679.329362 meters looking forward 100.000000 meters along route # Maximum depth: 1689.063576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.329362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054344; longitude = -130.004350; duration = 409; initialDepth = 1635.164898; finalDepth = 1629.329362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3212350000001 # Actual altitude: 55.3212350000001 # Commanded vehicle depth: 1629.329362 # Seafloor depth: -1684.650597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.443665 meters # Minimum depth: 1685.164898 meters looking forward 100.000000 meters along route # Maximum depth: 1689.555726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.164898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055150; longitude = -130.003707; duration = 409; initialDepth = 1638.670828; finalDepth = 1635.164898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3212350000001 # Actual altitude: 55.3212350000001 # Commanded vehicle depth: 1635.164898 # Seafloor depth: -1687.573087 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.443314 meters # Minimum depth: 1688.670828 meters looking forward 100.000000 meters along route # Maximum depth: 1690.089219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.670828 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055956; longitude = -130.003063; duration = 409; initialDepth = 1638.961538; finalDepth = 1638.670828; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.408189 # Actual altitude: 52.408189 # Commanded vehicle depth: 1638.670828 # Seafloor depth: -1688.727481 # 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 32 # Segment length 102.442963 meters # Minimum depth: 1688.961538 meters looking forward 100.000000 meters along route # Maximum depth: 1691.096168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.961538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056762; longitude = -130.002420; duration = 409; initialDepth = 1640.066695; finalDepth = 1638.961538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.448112 # Actual altitude: 50.448112 # Commanded vehicle depth: 1638.961538 # Seafloor depth: -1689.409650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.442612 meters # Minimum depth: 1690.066695 meters looking forward 100.000000 meters along route # Maximum depth: 1693.239104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.066695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057567; longitude = -130.001776; duration = 409; initialDepth = 1641.327583; finalDepth = 1640.066695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.448112 # Actual altitude: 50.448112 # Commanded vehicle depth: 1640.066695 # Seafloor depth: -1690.448553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.442262 meters # Minimum depth: 1691.327583 meters looking forward 100.000000 meters along route # Maximum depth: 1695.103548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.327583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058373; longitude = -130.001133; duration = 409; initialDepth = 1645.488687; finalDepth = 1641.327583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.381858 # Actual altitude: 50.381858 # Commanded vehicle depth: 1641.327583 # Seafloor depth: -1691.327583 # 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 32 # Segment length 102.441912 meters # Minimum depth: 1695.488687 meters looking forward 100.000000 meters along route # Maximum depth: 1698.649809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.488687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059179; longitude = -130.000490; duration = 409; initialDepth = 1647.117580; finalDepth = 1645.488687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.751949 # Actual altitude: 50.751949 # Commanded vehicle depth: 1645.488687 # Seafloor depth: -1696.240636 # 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 32 # Segment length 102.441560 meters # Minimum depth: 1697.117580 meters looking forward 100.000000 meters along route # Maximum depth: 1699.147902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.117580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059985; longitude = -129.999846; duration = 409; initialDepth = 1647.751123; finalDepth = 1647.117580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.751949 # Actual altitude: 50.751949 # Commanded vehicle depth: 1647.11758 # Seafloor depth: -1697.668941 # 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 32 # Segment length 102.441211 meters # Minimum depth: 1697.751123 meters looking forward 100.000000 meters along route # Maximum depth: 1701.157205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.751123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060791; longitude = -129.999203; duration = 409; initialDepth = 1648.687963; finalDepth = 1647.751123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5513609999998 # Actual altitude: 50.5513609999998 # Commanded vehicle depth: 1647.751123 # Seafloor depth: -1698.202389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.440859 meters # Minimum depth: 1698.687963 meters looking forward 100.000000 meters along route # Maximum depth: 1701.763129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.687963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061596; longitude = -129.998559; duration = 409; initialDepth = 1649.382270; finalDepth = 1648.687963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.451266 # Actual altitude: 50.451266 # Commanded vehicle depth: 1648.687963 # Seafloor depth: -1698.687963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.440509 meters # Minimum depth: 1699.382270 meters looking forward 100.000000 meters along route # Maximum depth: 1701.430904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.382270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062402; longitude = -129.997916; duration = 409; initialDepth = 1649.692763; finalDepth = 1649.382270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9738029999999 # Actual altitude: 51.9738029999999 # Commanded vehicle depth: 1649.38227 # Seafloor depth: -1701.356073 # 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 32 # Segment length 102.440158 meters # Minimum depth: 1699.692763 meters looking forward 100.000000 meters along route # Maximum depth: 1705.564847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.692763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063208; longitude = -129.997272; duration = 409; initialDepth = 1655.687681; finalDepth = 1649.692763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9738029999999 # Actual altitude: 51.9738029999999 # Commanded vehicle depth: 1649.692763 # Seafloor depth: -1699.692763 # 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 32 # Segment length 102.439808 meters # Minimum depth: 1705.687681 meters looking forward 100.000000 meters along route # Maximum depth: 1710.850325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.687681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064014; longitude = -129.996629; duration = 409; initialDepth = 1659.375777; finalDepth = 1655.687681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1655.687681 # Seafloor depth: -1705.687681 # 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 102.439457 meters # Minimum depth: 1709.375777 meters looking forward 100.000000 meters along route # Maximum depth: 1714.477094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.375777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064820; longitude = -129.995985; duration = 409; initialDepth = 1663.265130; finalDepth = 1659.375777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3541580000001 # Actual altitude: 50.3541580000001 # Commanded vehicle depth: 1659.375777 # Seafloor depth: -1709.729935 # 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 102.439106 meters # Minimum depth: 1713.265130 meters looking forward 100.000000 meters along route # Maximum depth: 1717.561096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.265130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065625; longitude = -129.995342; duration = 409; initialDepth = 1664.998163; finalDepth = 1663.265130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3541580000001 # Actual altitude: 50.3541580000001 # Commanded vehicle depth: 1663.26513 # Seafloor depth: -1713.265130 # 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 102.438756 meters # Minimum depth: 1714.998163 meters looking forward 100.000000 meters along route # Maximum depth: 1717.846335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.998163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066431; longitude = -129.994699; duration = 409; initialDepth = 1660.622400; finalDepth = 1664.998163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.848172 # Actual altitude: 52.848172 # Commanded vehicle depth: 1664.998163 # Seafloor depth: -1717.846335 # 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 32 # Segment length 102.438406 meters # Minimum depth: 1710.622400 meters looking forward 100.000000 meters along route # Maximum depth: 1719.921024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.622400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067237; longitude = -129.994055; duration = 409; initialDepth = 1657.263097; finalDepth = 1660.622400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4922300000001 # Actual altitude: 56.4922300000001 # Commanded vehicle depth: 1660.6224 # Seafloor depth: -1717.114630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.438054 meters # Minimum depth: 1707.263097 meters looking forward 100.000000 meters along route # Maximum depth: 1718.903204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.263097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068043; longitude = -129.993412; duration = 409; initialDepth = 1668.594351; finalDepth = 1657.263097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4922300000001 # Actual altitude: 56.4922300000001 # Commanded vehicle depth: 1657.263097 # Seafloor depth: -1709.289162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.437705 meters # Minimum depth: 1718.594351 meters looking forward 100.000000 meters along route # Maximum depth: 1722.152266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.594351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068849; longitude = -129.992768; duration = 409; initialDepth = 1667.113438; finalDepth = 1668.594351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.026065 # Actual altitude: 52.026065 # Commanded vehicle depth: 1668.594351 # Seafloor depth: -1720.389441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.437353 meters # Minimum depth: 1717.113438 meters looking forward 100.000000 meters along route # Maximum depth: 1723.125438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.113438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069654; longitude = -129.992125; duration = 409; initialDepth = 1670.891341; finalDepth = 1667.113438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4984109999998 # Actual altitude: 52.4984109999998 # Commanded vehicle depth: 1667.113438 # Seafloor depth: -1719.611849 # 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 32 # Segment length 102.437004 meters # Minimum depth: 1720.891341 meters looking forward 100.000000 meters along route # Maximum depth: 1727.243717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.891341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070460; longitude = -129.991481; duration = 409; initialDepth = 1657.599866; finalDepth = 1670.891341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3892229999999 # Actual altitude: 53.3892229999999 # Commanded vehicle depth: 1670.891341 # Seafloor depth: -1724.280564 # 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 32 # Segment length 102.436652 meters # Minimum depth: 1707.599866 meters looking forward 100.000000 meters along route # Maximum depth: 1718.738706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.599866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071266; longitude = -129.990838; duration = 409; initialDepth = 1662.100678; finalDepth = 1657.599866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1388400000001 # Actual altitude: 61.1388400000001 # Commanded vehicle depth: 1657.599866 # Seafloor depth: -1718.738706 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.436302 meters # Minimum depth: 1712.100678 meters looking forward 100.000000 meters along route # Maximum depth: 1719.055762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.100678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072072; longitude = -129.990194; duration = 409; initialDepth = 1662.711742; finalDepth = 1662.100678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1388400000001 # Actual altitude: 61.1388400000001 # Commanded vehicle depth: 1662.100678 # Seafloor depth: -1714.490567 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.435952 meters # Minimum depth: 1712.711742 meters looking forward 100.000000 meters along route # Maximum depth: 1720.324129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.711742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072878; longitude = -129.989551; duration = 409; initialDepth = 1658.315137; finalDepth = 1662.711742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.389889 # Actual altitude: 52.389889 # Commanded vehicle depth: 1662.711742 # Seafloor depth: -1712.711742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.435601 meters # Minimum depth: 1708.315137 meters looking forward 100.000000 meters along route # Maximum depth: 1733.395649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.315137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073683; longitude = -129.988908; duration = 409; initialDepth = 1683.507222; finalDepth = 1658.315137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.20318 # Actual altitude: 54.20318 # Commanded vehicle depth: 1658.315137 # Seafloor depth: -1712.518317 # 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 32 # Segment length 102.435250 meters # Minimum depth: 1733.507222 meters looking forward 100.000000 meters along route # Maximum depth: 1738.160489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.507222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074489; longitude = -129.988264; duration = 409; initialDepth = 1686.381045; finalDepth = 1683.507222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.20318 # Actual altitude: 54.20318 # Commanded vehicle depth: 1683.507222 # Seafloor depth: -1733.507222 # 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 32 # Segment length 102.434900 meters # Minimum depth: 1736.381045 meters looking forward 100.000000 meters along route # Maximum depth: 1738.118298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.381045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075295; longitude = -129.987621; duration = 409; initialDepth = 1686.214457; finalDepth = 1686.381045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.109121 # Actual altitude: 50.109121 # Commanded vehicle depth: 1686.381045 # Seafloor depth: -1736.490166 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.434550 meters # Minimum depth: 1736.214457 meters looking forward 100.000000 meters along route # Maximum depth: 1739.526236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.214457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076101; longitude = -129.986977; duration = 409; initialDepth = 1684.534366; finalDepth = 1686.214457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.938731 # Actual altitude: 50.938731 # Commanded vehicle depth: 1686.214457 # Seafloor depth: -1737.153188 # 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 32 # Segment length 102.434199 meters # Minimum depth: 1734.534366 meters looking forward 100.000000 meters along route # Maximum depth: 1740.766794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.534366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076907; longitude = -129.986334; duration = 409; initialDepth = 1676.153712; finalDepth = 1684.534366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3196229999999 # Actual altitude: 54.3196229999999 # Commanded vehicle depth: 1684.534366 # Seafloor depth: -1738.853989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.433848 meters # Minimum depth: 1726.153712 meters looking forward 100.000000 meters along route # Maximum depth: 1733.323776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.153712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077712; longitude = -129.985690; duration = 409; initialDepth = 1676.443445; finalDepth = 1676.153712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1700639999999 # Actual altitude: 57.1700639999999 # Commanded vehicle depth: 1676.153712 # Seafloor depth: -1733.323776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.433498 meters # Minimum depth: 1726.443445 meters looking forward 100.000000 meters along route # Maximum depth: 1728.806874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.443445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078518; longitude = -129.985047; duration = 409; initialDepth = 1677.767783; finalDepth = 1676.443445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1700639999999 # Actual altitude: 57.1700639999999 # Commanded vehicle depth: 1676.443445 # Seafloor depth: -1727.782464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.433148 meters # Minimum depth: 1727.767783 meters looking forward 100.000000 meters along route # Maximum depth: 1729.784004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.767783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079324; longitude = -129.984404; duration = 409; initialDepth = 1672.195119; finalDepth = 1677.767783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3390189999998 # Actual altitude: 51.3390189999998 # Commanded vehicle depth: 1677.767783 # Seafloor depth: -1728.679046 # 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 32 # Segment length 102.432797 meters # Minimum depth: 1722.195119 meters looking forward 100.000000 meters along route # Maximum depth: 1728.195590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.195119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080130; longitude = -129.983760; duration = 409; initialDepth = 1671.489859; finalDepth = 1672.195119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.834977 # Actual altitude: 55.834977 # Commanded vehicle depth: 1672.195119 # Seafloor depth: -1728.030096 # 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 102.432447 meters # Minimum depth: 1721.489859 meters looking forward 100.000000 meters along route # Maximum depth: 1724.220189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.489859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080936; longitude = -129.983117; duration = 409; initialDepth = 1674.197507; finalDepth = 1671.489859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.834977 # Actual altitude: 55.834977 # Commanded vehicle depth: 1671.489859 # Seafloor depth: -1722.621158 # 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 102.432096 meters # Minimum depth: 1724.197507 meters looking forward 100.000000 meters along route # Maximum depth: 1726.174393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.197507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081741; longitude = -129.982473; duration = 409; initialDepth = 1671.236670; finalDepth = 1674.197507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1312989999999 # Actual altitude: 51.1312989999999 # Commanded vehicle depth: 1674.197507 # Seafloor depth: -1724.874941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.431746 meters # Minimum depth: 1721.236670 meters looking forward 100.000000 meters along route # Maximum depth: 1726.613475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.236670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082547; longitude = -129.981830; duration = 409; initialDepth = 1671.859945; finalDepth = 1671.236670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2254089999999 # Actual altitude: 54.2254089999999 # Commanded vehicle depth: 1671.23667 # Seafloor depth: -1725.462079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.431395 meters # Minimum depth: 1721.859945 meters looking forward 100.000000 meters along route # Maximum depth: 1728.477648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.859945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083353; longitude = -129.981186; duration = 409; initialDepth = 1675.246150; finalDepth = 1671.859945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2254089999999 # Actual altitude: 54.2254089999999 # Commanded vehicle depth: 1671.859945 # Seafloor depth: -1722.659963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 102.431045 meters # Minimum depth: 1725.246150 meters looking forward 100.000000 meters along route # Maximum depth: 1727.717458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.246150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084159; longitude = -129.980543; duration = 409; initialDepth = 1675.510602; finalDepth = 1675.246150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3055060000002 # Actual altitude: 51.3055060000002 # Commanded vehicle depth: 1675.24615 # Seafloor depth: -1726.551656 # 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 32 # Segment length 102.430694 meters # Minimum depth: 1725.510602 meters looking forward 100.000000 meters along route # Maximum depth: 1728.365954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.510602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084965; longitude = -129.979899; duration = 409; initialDepth = 1678.942704; finalDepth = 1675.510602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3055060000002 # Actual altitude: 51.3055060000002 # Commanded vehicle depth: 1675.510602 # Seafloor depth: -1725.510602 # 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 32 # Segment length 102.430344 meters # Minimum depth: 1728.942704 meters looking forward 100.000000 meters along route # Maximum depth: 1736.465393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.942704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085770; longitude = -129.979256; duration = 409; initialDepth = 1686.871745; finalDepth = 1678.942704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1678.942704 # Seafloor depth: -1728.942704 # 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 109.291558 meters # Minimum depth: 1736.871745 meters looking forward 100.000000 meters along route # Maximum depth: 1743.860917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.871745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086576; longitude = -129.978613; duration = 437; initialDepth = 1694.988739; finalDepth = 1686.871745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7302480000001 # Actual altitude: 50.7302480000001 # Commanded vehicle depth: 1686.871745 # Seafloor depth: -1737.601993 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 147.129071 meters # Minimum depth: 1744.988739 meters looking forward 100.000000 meters along route # Maximum depth: 1763.144508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.988739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087436; longitude = -129.977926; duration = 588; # abortOnTimeout = True; initialDepth = 1695.509228; finalDepth = 1694.988739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7302480000001 # Actual altitude: 50.7302480000001 # Commanded vehicle depth: 1694.988739 # Seafloor depth: -1744.988739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 88.589715 meters # Minimum depth: 1745.509228 meters looking forward 100.000000 meters along route # Maximum depth: 1760.325525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.509228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088143; longitude = -129.979535; duration = 354; # abortOnTimeout = True; initialDepth = 1678.720733; finalDepth = 1695.509228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7863040000002 # Actual altitude: 63.7863040000002 # Commanded vehicle depth: 1695.509228 # Seafloor depth: -1759.295532 # 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 30 # Segment length 102.254039 meters # Minimum depth: 1728.720733 meters looking forward 100.000000 meters along route # Maximum depth: 1743.009886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.720733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087446; longitude = -129.980092; duration = 409; initialDepth = 1676.174112; finalDepth = 1678.720733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2891529999999 # Actual altitude: 64.2891529999999 # Commanded vehicle depth: 1678.720733 # Seafloor depth: -1743.009886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.254390 meters # Minimum depth: 1726.174112 meters looking forward 100.000000 meters along route # Maximum depth: 1729.638659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.174112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086642; longitude = -129.980736; duration = 409; initialDepth = 1676.861994; finalDepth = 1676.174112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2891529999999 # Actual altitude: 64.2891529999999 # Commanded vehicle depth: 1676.174112 # Seafloor depth: -1729.638659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.254740 meters # Minimum depth: 1726.861994 meters looking forward 100.000000 meters along route # Maximum depth: 1728.376067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.861994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085838; longitude = -129.981379; duration = 409; initialDepth = 1678.070938; finalDepth = 1676.861994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.464547 # Actual altitude: 53.464547 # Commanded vehicle depth: 1676.861994 # Seafloor depth: -1727.623866 # 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 30 # Segment length 102.255090 meters # Minimum depth: 1728.070938 meters looking forward 100.000000 meters along route # Maximum depth: 1730.511084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.070938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085034; longitude = -129.982023; duration = 409; initialDepth = 1679.016548; finalDepth = 1678.070938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9818869999999 # Actual altitude: 50.9818869999999 # Commanded vehicle depth: 1678.070938 # Seafloor depth: -1729.052825 # 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 30 # Segment length 102.255441 meters # Minimum depth: 1729.016548 meters looking forward 100.000000 meters along route # Maximum depth: 1730.988363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.016548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084230; longitude = -129.982666; duration = 409; initialDepth = 1676.356676; finalDepth = 1679.016548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.94677 # Actual altitude: 51.94677 # Commanded vehicle depth: 1679.016548 # Seafloor depth: -1730.963318 # 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 30 # Segment length 102.255791 meters # Minimum depth: 1726.356676 meters looking forward 100.000000 meters along route # Maximum depth: 1729.888280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.356676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083427; longitude = -129.983310; duration = 409; initialDepth = 1675.023203; finalDepth = 1676.356676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.94677 # Actual altitude: 51.94677 # Commanded vehicle depth: 1676.356676 # Seafloor depth: -1727.912356 # 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 30 # Segment length 102.256141 meters # Minimum depth: 1725.023203 meters looking forward 100.000000 meters along route # Maximum depth: 1727.748103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.023203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082623; longitude = -129.983953; duration = 409; initialDepth = 1677.324472; finalDepth = 1675.023203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5556799999999 # Actual altitude: 51.5556799999999 # Commanded vehicle depth: 1675.023203 # Seafloor depth: -1725.266988 # 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 30 # Segment length 102.256492 meters # Minimum depth: 1727.324472 meters looking forward 100.000000 meters along route # Maximum depth: 1732.318585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.324472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081819; longitude = -129.984597; duration = 409; initialDepth = 1676.442418; finalDepth = 1677.324472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.583294 # Actual altitude: 50.583294 # Commanded vehicle depth: 1677.324472 # Seafloor depth: -1727.907766 # 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 30 # Segment length 102.256842 meters # Minimum depth: 1726.442418 meters looking forward 100.000000 meters along route # Maximum depth: 1730.441782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.442418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081015; longitude = -129.985240; duration = 409; initialDepth = 1677.208414; finalDepth = 1676.442418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.999364 # Actual altitude: 53.999364 # Commanded vehicle depth: 1676.442418 # Seafloor depth: -1730.441782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.257192 meters # Minimum depth: 1727.208414 meters looking forward 100.000000 meters along route # Maximum depth: 1730.511027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.208414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080211; longitude = -129.985883; duration = 409; initialDepth = 1681.184724; finalDepth = 1677.208414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.999364 # Actual altitude: 53.999364 # Commanded vehicle depth: 1677.208414 # Seafloor depth: -1727.208414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.257542 meters # Minimum depth: 1731.184724 meters looking forward 100.000000 meters along route # Maximum depth: 1735.810487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.184724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079407; longitude = -129.986527; duration = 409; initialDepth = 1684.238533; finalDepth = 1681.184724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1681.184724 # Seafloor depth: -1731.184724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.257893 meters # Minimum depth: 1734.238533 meters looking forward 100.000000 meters along route # Maximum depth: 1736.695835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.238533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078603; longitude = -129.987170; duration = 409; initialDepth = 1683.327471; finalDepth = 1684.238533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.457302 # Actual altitude: 52.457302 # Commanded vehicle depth: 1684.238533 # Seafloor depth: -1736.695835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.258244 meters # Minimum depth: 1733.327471 meters looking forward 100.000000 meters along route # Maximum depth: 1737.290732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.327471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077799; longitude = -129.987814; duration = 409; initialDepth = 1683.060942; finalDepth = 1683.327471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.457302 # Actual altitude: 52.457302 # Commanded vehicle depth: 1683.327471 # Seafloor depth: -1733.327471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.258594 meters # Minimum depth: 1733.060942 meters looking forward 100.000000 meters along route # Maximum depth: 1736.757611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.060942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076995; longitude = -129.988457; duration = 409; initialDepth = 1684.147545; finalDepth = 1683.060942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6448029999999 # Actual altitude: 53.6448029999999 # Commanded vehicle depth: 1683.060942 # Seafloor depth: -1736.705745 # 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 30 # Segment length 102.258944 meters # Minimum depth: 1734.147545 meters looking forward 100.000000 meters along route # Maximum depth: 1736.129425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.147545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076191; longitude = -129.989101; duration = 409; initialDepth = 1683.372251; finalDepth = 1684.147545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6448029999999 # Actual altitude: 53.6448029999999 # Commanded vehicle depth: 1684.147545 # Seafloor depth: -1734.917090 # 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 30 # Segment length 102.259294 meters # Minimum depth: 1733.372251 meters looking forward 100.000000 meters along route # Maximum depth: 1735.240495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.372251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075387; longitude = -129.989744; duration = 409; initialDepth = 1681.997106; finalDepth = 1683.372251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3367519999999 # Actual altitude: 51.3367519999999 # Commanded vehicle depth: 1683.372251 # Seafloor depth: -1734.709003 # 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 30 # Segment length 102.259645 meters # Minimum depth: 1731.997106 meters looking forward 100.000000 meters along route # Maximum depth: 1734.860326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.997106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074583; longitude = -129.990388; duration = 409; initialDepth = 1676.559905; finalDepth = 1681.997106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.86322 # Actual altitude: 52.86322 # Commanded vehicle depth: 1681.997106 # Seafloor depth: -1734.860326 # 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 30 # Segment length 102.259995 meters # Minimum depth: 1726.559905 meters looking forward 100.000000 meters along route # Maximum depth: 1733.801962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.559905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073779; longitude = -129.991031; duration = 409; initialDepth = 1676.920057; finalDepth = 1676.559905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.977341 # Actual altitude: 56.977341 # Commanded vehicle depth: 1676.559905 # Seafloor depth: -1733.537246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.260346 meters # Minimum depth: 1726.920057 meters looking forward 100.000000 meters along route # Maximum depth: 1732.839130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.920057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072975; longitude = -129.991674; duration = 409; initialDepth = 1676.665142; finalDepth = 1676.920057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.977341 # Actual altitude: 56.977341 # Commanded vehicle depth: 1676.920057 # Seafloor depth: -1727.728282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.260696 meters # Minimum depth: 1726.665142 meters looking forward 100.000000 meters along route # Maximum depth: 1728.507925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.665142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072171; longitude = -129.992318; duration = 409; initialDepth = 1676.296619; finalDepth = 1676.665142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8427829999998 # Actual altitude: 51.8427829999998 # Commanded vehicle depth: 1676.665142 # Seafloor depth: -1728.507925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.261046 meters # Minimum depth: 1726.296619 meters looking forward 100.000000 meters along route # Maximum depth: 1728.218933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.296619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071367; longitude = -129.992961; duration = 409; initialDepth = 1669.912690; finalDepth = 1676.296619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8427829999998 # Actual altitude: 51.8427829999998 # Commanded vehicle depth: 1676.296619 # Seafloor depth: -1727.804936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.261397 meters # Minimum depth: 1719.912690 meters looking forward 100.000000 meters along route # Maximum depth: 1725.677649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.912690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070563; longitude = -129.993605; duration = 409; initialDepth = 1668.391241; finalDepth = 1669.912690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7649589999999 # Actual altitude: 55.7649589999999 # Commanded vehicle depth: 1669.91269 # Seafloor depth: -1725.677649 # 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 30 # Segment length 102.261748 meters # Minimum depth: 1718.391241 meters looking forward 100.000000 meters along route # Maximum depth: 1723.135918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.391241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069759; longitude = -129.994248; duration = 409; initialDepth = 1667.006499; finalDepth = 1668.391241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7649589999999 # Actual altitude: 55.7649589999999 # Commanded vehicle depth: 1668.391241 # Seafloor depth: -1723.135918 # 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 30 # Segment length 102.262097 meters # Minimum depth: 1717.006499 meters looking forward 100.000000 meters along route # Maximum depth: 1720.656582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.006499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068955; longitude = -129.994892; duration = 409; initialDepth = 1665.933044; finalDepth = 1667.006499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7446769999999 # Actual altitude: 54.7446769999999 # Commanded vehicle depth: 1667.006499 # Seafloor depth: -1719.905419 # 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 30 # Segment length 102.262449 meters # Minimum depth: 1715.933044 meters looking forward 100.000000 meters along route # Maximum depth: 1718.537140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.933044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068151; longitude = -129.995535; duration = 409; initialDepth = 1661.463763; finalDepth = 1665.933044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8989199999999 # Actual altitude: 52.8989199999999 # Commanded vehicle depth: 1665.933044 # Seafloor depth: -1716.897767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.262798 meters # Minimum depth: 1711.463763 meters looking forward 100.000000 meters along route # Maximum depth: 1716.207948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.463763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067347; longitude = -129.996178; duration = 409; initialDepth = 1658.592528; finalDepth = 1661.463763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.744185 # Actual altitude: 54.744185 # Commanded vehicle depth: 1661.463763 # Seafloor depth: -1716.207948 # 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 30 # Segment length 102.263149 meters # Minimum depth: 1708.592528 meters looking forward 100.000000 meters along route # Maximum depth: 1711.321136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.592528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066543; longitude = -129.996822; duration = 409; initialDepth = 1655.975926; finalDepth = 1658.592528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.744185 # Actual altitude: 54.744185 # Commanded vehicle depth: 1658.592528 # Seafloor depth: -1710.548082 # 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 30 # Segment length 102.263500 meters # Minimum depth: 1705.975926 meters looking forward 100.000000 meters along route # Maximum depth: 1708.196683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.975926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065739; longitude = -129.997465; duration = 409; initialDepth = 1653.743493; finalDepth = 1655.975926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2207569999998 # Actual altitude: 52.2207569999998 # Commanded vehicle depth: 1655.975926 # Seafloor depth: -1708.196683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.263850 meters # Minimum depth: 1703.743493 meters looking forward 100.000000 meters along route # Maximum depth: 1706.556415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.743493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064935; longitude = -129.998109; duration = 409; initialDepth = 1651.966294; finalDepth = 1653.743493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.700677 # Actual altitude: 52.700677 # Commanded vehicle depth: 1653.743493 # Seafloor depth: -1706.444170 # 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 30 # Segment length 102.264200 meters # Minimum depth: 1701.966294 meters looking forward 100.000000 meters along route # Maximum depth: 1704.078496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.966294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064131; longitude = -129.998752; duration = 409; initialDepth = 1650.134980; finalDepth = 1651.966294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.700677 # Actual altitude: 52.700677 # Commanded vehicle depth: 1651.966294 # Seafloor depth: -1703.555900 # 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 30 # Segment length 102.264551 meters # Minimum depth: 1700.134980 meters looking forward 100.000000 meters along route # Maximum depth: 1702.432617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.134980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063327; longitude = -129.999396; duration = 409; initialDepth = 1647.114635; finalDepth = 1650.134980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.589606 # Actual altitude: 51.589606 # Commanded vehicle depth: 1650.13498 # Seafloor depth: -1700.833227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.264902 meters # Minimum depth: 1697.114635 meters looking forward 100.000000 meters along route # Maximum depth: 1700.856613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.114635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062523; longitude = -130.000039; duration = 409; initialDepth = 1644.232509; finalDepth = 1647.114635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1112070000001 # Actual altitude: 53.1112070000001 # Commanded vehicle depth: 1647.114635 # Seafloor depth: -1700.225842 # 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 30 # Segment length 102.265251 meters # Minimum depth: 1694.232509 meters looking forward 100.000000 meters along route # Maximum depth: 1698.126236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.232509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061719; longitude = -130.000683; duration = 409; initialDepth = 1643.469141; finalDepth = 1644.232509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1112070000001 # Actual altitude: 53.1112070000001 # Commanded vehicle depth: 1644.232509 # Seafloor depth: -1696.227762 # 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 30 # Segment length 102.265603 meters # Minimum depth: 1693.469141 meters looking forward 100.000000 meters along route # Maximum depth: 1694.556698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.469141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060915; longitude = -130.001326; duration = 409; initialDepth = 1641.209747; finalDepth = 1643.469141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.995253 # Actual altitude: 51.995253 # Commanded vehicle depth: 1643.469141 # Seafloor depth: -1694.218746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.265953 meters # Minimum depth: 1691.209747 meters looking forward 100.000000 meters along route # Maximum depth: 1693.272242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.209747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060111; longitude = -130.001969; duration = 409; initialDepth = 1639.312888; finalDepth = 1641.209747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.749605 # Actual altitude: 50.749605 # Commanded vehicle depth: 1641.209747 # Seafloor depth: -1691.713126 # 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 30 # Segment length 102.266303 meters # Minimum depth: 1689.312888 meters looking forward 100.000000 meters along route # Maximum depth: 1693.746619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.312888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059307; longitude = -130.002613; duration = 409; initialDepth = 1637.305080; finalDepth = 1639.312888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.161938 # Actual altitude: 51.161938 # Commanded vehicle depth: 1639.312888 # Seafloor depth: -1690.474826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.266654 meters # Minimum depth: 1687.305080 meters looking forward 100.000000 meters along route # Maximum depth: 1690.277264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.305080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058503; longitude = -130.003256; duration = 409; initialDepth = 1634.315893; finalDepth = 1637.305080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.623425 # Actual altitude: 52.623425 # Commanded vehicle depth: 1637.30508 # Seafloor depth: -1689.928505 # 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 30 # Segment length 102.267004 meters # Minimum depth: 1684.315893 meters looking forward 100.000000 meters along route # Maximum depth: 1686.882049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.315893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057699; longitude = -130.003900; duration = 409; initialDepth = 1626.674176; finalDepth = 1634.315893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.623425 # Actual altitude: 52.623425 # Commanded vehicle depth: 1634.315893 # Seafloor depth: -1686.882049 # 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 30 # Segment length 102.267355 meters # Minimum depth: 1676.674176 meters looking forward 100.000000 meters along route # Maximum depth: 1684.095705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.674176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056895; longitude = -130.004543; duration = 409; initialDepth = 1619.367405; finalDepth = 1626.674176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1984789999999 # Actual altitude: 57.1984789999999 # Commanded vehicle depth: 1626.674176 # Seafloor depth: -1683.872655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.267706 meters # Minimum depth: 1669.367405 meters looking forward 100.000000 meters along route # Maximum depth: 1673.496361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.367405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056091; longitude = -130.005187; duration = 409; initialDepth = 1619.592968; finalDepth = 1619.367405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1984789999999 # Actual altitude: 57.1984789999999 # Commanded vehicle depth: 1619.367405 # Seafloor depth: -1673.496361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 102.268056 meters # Minimum depth: 1669.592968 meters looking forward 100.000000 meters along route # Maximum depth: 1671.422822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.592968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055287; longitude = -130.005830; duration = 409; initialDepth = 1618.992072; finalDepth = 1619.592968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.128956 # Actual altitude: 54.128956 # Commanded vehicle depth: 1619.592968 # Seafloor depth: -1669.592968 # 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 30 # Segment length 102.268406 meters # Minimum depth: 1668.992072 meters looking forward 100.000000 meters along route # Maximum depth: 1672.132932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.992072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054483; longitude = -130.006474; duration = 409; initialDepth = 1617.871976; finalDepth = 1618.992072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.654896 # Actual altitude: 50.654896 # Commanded vehicle depth: 1618.992072 # Seafloor depth: -1669.646968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 105.695803 meters # Minimum depth: 1667.871976 meters looking forward 100.000000 meters along route # Maximum depth: 1670.254263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.871976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053679; longitude = -130.007117; duration = 422; initialDepth = 1617.317401; finalDepth = 1617.871976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.6995260000001 # Actual altitude: 50.6995260000001 # Commanded vehicle depth: 1617.871976 # Seafloor depth: -1668.571502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 150.015849 meters # Minimum depth: 1667.317401 meters looking forward 100.000000 meters along route # Maximum depth: 1670.704447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.317401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052848; longitude = -130.007782; duration = 600; # abortOnTimeout = True; initialDepth = 1617.710882; finalDepth = 1617.317401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.6995260000001 # Actual altitude: 50.6995260000001 # Commanded vehicle depth: 1617.317401 # Seafloor depth: -1667.941986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 78.330905 meters # Minimum depth: 1667.710882 meters looking forward 100.000000 meters along route # Maximum depth: 1669.876455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.710882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053505; longitude = -130.009476; duration = 313; # abortOnTimeout = True; initialDepth = 1618.613855; finalDepth = 1617.710882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.624585 # Actual altitude: 50.624585 # Commanded vehicle depth: 1617.710882 # Seafloor depth: -1667.918579 # 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 28 # Segment length 102.228843 meters # Minimum depth: 1668.613855 meters looking forward 100.000000 meters along route # Maximum depth: 1678.315674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.613855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054121; longitude = -130.008983; duration = 408; initialDepth = 1626.712016; finalDepth = 1618.613855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.493115 # Actual altitude: 50.493115 # Commanded vehicle depth: 1618.613855 # Seafloor depth: -1669.106970 # 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 28 # Segment length 102.228492 meters # Minimum depth: 1676.712016 meters looking forward 100.000000 meters along route # Maximum depth: 1679.171293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.712016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054924; longitude = -130.008340; duration = 408; initialDepth = 1628.680299; finalDepth = 1626.712016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6200450000001 # Actual altitude: 50.6200450000001 # Commanded vehicle depth: 1626.712016 # Seafloor depth: -1677.332061 # 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 28 # Segment length 102.228142 meters # Minimum depth: 1678.680299 meters looking forward 100.000000 meters along route # Maximum depth: 1681.081813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.680299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055728; longitude = -130.007696; duration = 408; initialDepth = 1630.406524; finalDepth = 1628.680299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6200450000001 # Actual altitude: 50.6200450000001 # Commanded vehicle depth: 1628.680299 # Seafloor depth: -1678.680299 # 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 28 # Segment length 102.227792 meters # Minimum depth: 1680.406524 meters looking forward 100.000000 meters along route # Maximum depth: 1682.585315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.406524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056531; longitude = -130.007053; duration = 408; initialDepth = 1631.491656; finalDepth = 1630.406524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.003997 # Actual altitude: 51.003997 # Commanded vehicle depth: 1630.406524 # Seafloor depth: -1681.410521 # 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 28 # Segment length 102.227441 meters # Minimum depth: 1681.491656 meters looking forward 100.000000 meters along route # Maximum depth: 1686.927127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.491656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057335; longitude = -130.006409; duration = 408; initialDepth = 1633.984642; finalDepth = 1631.491656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.003997 # Actual altitude: 51.003997 # Commanded vehicle depth: 1631.491656 # Seafloor depth: -1681.854212 # 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 28 # Segment length 102.227090 meters # Minimum depth: 1683.984642 meters looking forward 100.000000 meters along route # Maximum depth: 1686.384937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.984642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058139; longitude = -130.005766; duration = 408; initialDepth = 1634.497479; finalDepth = 1633.984642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.362556 # Actual altitude: 50.362556 # Commanded vehicle depth: 1633.984642 # Seafloor depth: -1683.984642 # 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 28 # Segment length 102.226740 meters # Minimum depth: 1684.497479 meters looking forward 100.000000 meters along route # Maximum depth: 1686.462693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.497479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058942; longitude = -130.005122; duration = 408; initialDepth = 1635.544871; finalDepth = 1634.497479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4916249999999 # Actual altitude: 50.4916249999999 # Commanded vehicle depth: 1634.497479 # Seafloor depth: -1684.989104 # 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 28 # Segment length 102.226390 meters # Minimum depth: 1685.544871 meters looking forward 100.000000 meters along route # Maximum depth: 1690.028427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.544871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059746; longitude = -130.004479; duration = 408; initialDepth = 1635.083819; finalDepth = 1635.544871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4916249999999 # Actual altitude: 50.4916249999999 # Commanded vehicle depth: 1635.544871 # Seafloor depth: -1685.658597 # 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 28 # Segment length 102.226039 meters # Minimum depth: 1685.083819 meters looking forward 100.000000 meters along route # Maximum depth: 1687.956544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.083819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060549; longitude = -130.003835; duration = 408; initialDepth = 1636.344839; finalDepth = 1635.083819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5934890000001 # Actual altitude: 51.5934890000001 # Commanded vehicle depth: 1635.083819 # Seafloor depth: -1686.677308 # 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 28 # Segment length 102.225688 meters # Minimum depth: 1686.344839 meters looking forward 100.000000 meters along route # Maximum depth: 1692.766004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.344839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061353; longitude = -130.003192; duration = 408; initialDepth = 1641.527055; finalDepth = 1636.344839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5934890000001 # Actual altitude: 51.5934890000001 # Commanded vehicle depth: 1636.344839 # Seafloor depth: -1686.495133 # 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 28 # Segment length 102.225338 meters # Minimum depth: 1691.527055 meters looking forward 100.000000 meters along route # Maximum depth: 1698.212180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.527055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062157; longitude = -130.002549; duration = 408; initialDepth = 1646.763591; finalDepth = 1641.527055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1502939999998 # Actual altitude: 50.1502939999998 # Commanded vehicle depth: 1641.527055 # Seafloor depth: -1691.527055 # 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 28 # Segment length 102.224988 meters # Minimum depth: 1696.763591 meters looking forward 100.000000 meters along route # Maximum depth: 1698.873346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.763591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062960; longitude = -130.001905; duration = 408; initialDepth = 1643.676232; finalDepth = 1646.763591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5793590000001 # Actual altitude: 50.5793590000001 # Commanded vehicle depth: 1646.763591 # Seafloor depth: -1697.342950 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.224637 meters # Minimum depth: 1693.676232 meters looking forward 100.000000 meters along route # Maximum depth: 1698.468481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.676232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063764; longitude = -130.001262; duration = 408; initialDepth = 1648.980194; finalDepth = 1643.676232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8656109999999 # Actual altitude: 53.8656109999999 # Commanded vehicle depth: 1643.676232 # Seafloor depth: -1697.541843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.224287 meters # Minimum depth: 1698.980194 meters looking forward 100.000000 meters along route # Maximum depth: 1702.720572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.980194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064567; longitude = -130.000618; duration = 408; initialDepth = 1651.600430; finalDepth = 1648.980194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8656109999999 # Actual altitude: 53.8656109999999 # Commanded vehicle depth: 1648.980194 # Seafloor depth: -1698.980194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.223936 meters # Minimum depth: 1701.600430 meters looking forward 100.000000 meters along route # Maximum depth: 1706.825172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.600430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065371; longitude = -129.999975; duration = 408; initialDepth = 1656.757857; finalDepth = 1651.600430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.298299 # Actual altitude: 51.298299 # Commanded vehicle depth: 1651.60043 # Seafloor depth: -1702.898729 # 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 28 # Segment length 102.223586 meters # Minimum depth: 1706.757857 meters looking forward 100.000000 meters along route # Maximum depth: 1712.093807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.757857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066174; longitude = -129.999331; duration = 408; initialDepth = 1660.952642; finalDepth = 1656.757857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.298299 # Actual altitude: 51.298299 # Commanded vehicle depth: 1656.757857 # Seafloor depth: -1707.929554 # 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 28 # Segment length 102.223235 meters # Minimum depth: 1710.952642 meters looking forward 100.000000 meters along route # Maximum depth: 1715.102582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.952642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066978; longitude = -129.998688; duration = 408; initialDepth = 1664.669743; finalDepth = 1660.952642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.171697 # Actual altitude: 51.171697 # Commanded vehicle depth: 1660.952642 # Seafloor depth: -1711.692802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.222885 meters # Minimum depth: 1714.669743 meters looking forward 100.000000 meters along route # Maximum depth: 1719.808353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.669743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067782; longitude = -129.998044; duration = 408; initialDepth = 1668.964498; finalDepth = 1664.669743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7401600000001 # Actual altitude: 50.7401600000001 # Commanded vehicle depth: 1664.669743 # Seafloor depth: -1714.669743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.222534 meters # Minimum depth: 1718.964498 meters looking forward 100.000000 meters along route # Maximum depth: 1725.734279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.964498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068585; longitude = -129.997401; duration = 408; initialDepth = 1675.740034; finalDepth = 1668.964498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1471770000001 # Actual altitude: 51.1471770000001 # Commanded vehicle depth: 1668.964498 # Seafloor depth: -1720.111675 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.222184 meters # Minimum depth: 1725.740034 meters looking forward 100.000000 meters along route # Maximum depth: 1727.256972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.740034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069389; longitude = -129.996758; duration = 408; initialDepth = 1671.251968; finalDepth = 1675.740034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1471770000001 # Actual altitude: 51.1471770000001 # Commanded vehicle depth: 1675.740034 # Seafloor depth: -1726.362675 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.221834 meters # Minimum depth: 1721.251968 meters looking forward 100.000000 meters along route # Maximum depth: 1727.491185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.251968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070192; longitude = -129.996114; duration = 408; initialDepth = 1672.757616; finalDepth = 1671.251968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.511031 # Actual altitude: 54.511031 # Commanded vehicle depth: 1671.251968 # Seafloor depth: -1725.762999 # 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 28 # Segment length 102.221483 meters # Minimum depth: 1722.757616 meters looking forward 100.000000 meters along route # Maximum depth: 1725.682248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.757616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070996; longitude = -129.995471; duration = 408; initialDepth = 1674.011995; finalDepth = 1672.757616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.511031 # Actual altitude: 54.511031 # Commanded vehicle depth: 1672.757616 # Seafloor depth: -1724.825558 # 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 28 # Segment length 102.221133 meters # Minimum depth: 1724.011995 meters looking forward 100.000000 meters along route # Maximum depth: 1726.730924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.011995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071800; longitude = -129.994827; duration = 408; initialDepth = 1674.736748; finalDepth = 1674.011995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0679419999999 # Actual altitude: 52.0679419999999 # Commanded vehicle depth: 1674.011995 # Seafloor depth: -1724.011995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.220783 meters # Minimum depth: 1724.736748 meters looking forward 100.000000 meters along route # Maximum depth: 1729.059454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.736748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072603; longitude = -129.994184; duration = 408; initialDepth = 1680.150319; finalDepth = 1674.736748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9667139999999 # Actual altitude: 51.9667139999999 # Commanded vehicle depth: 1674.736748 # Seafloor depth: -1726.703462 # 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 28 # Segment length 102.220432 meters # Minimum depth: 1730.150319 meters looking forward 100.000000 meters along route # Maximum depth: 1732.969318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.150319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073407; longitude = -129.993540; duration = 408; initialDepth = 1682.130256; finalDepth = 1680.150319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9667139999999 # Actual altitude: 51.9667139999999 # Commanded vehicle depth: 1680.150319 # Seafloor depth: -1730.152206 # 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 28 # Segment length 102.220082 meters # Minimum depth: 1732.130256 meters looking forward 100.000000 meters along route # Maximum depth: 1734.373808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.130256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074210; longitude = -129.992897; duration = 408; initialDepth = 1682.144479; finalDepth = 1682.130256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.762334 # Actual altitude: 50.762334 # Commanded vehicle depth: 1682.130256 # Seafloor depth: -1732.892590 # 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 28 # Segment length 102.219731 meters # Minimum depth: 1732.144479 meters looking forward 100.000000 meters along route # Maximum depth: 1734.577498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.144479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075014; longitude = -129.992254; duration = 408; initialDepth = 1681.045377; finalDepth = 1682.144479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3759230000001 # Actual altitude: 51.3759230000001 # Commanded vehicle depth: 1682.144479 # Seafloor depth: -1733.520402 # 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 102.219381 meters # Minimum depth: 1731.045377 meters looking forward 100.000000 meters along route # Maximum depth: 1735.183970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.045377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075817; longitude = -129.991610; duration = 408; initialDepth = 1683.243288; finalDepth = 1681.045377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1385930000001 # Actual altitude: 54.1385930000001 # Commanded vehicle depth: 1681.045377 # Seafloor depth: -1735.183970 # 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 28 # Segment length 102.219031 meters # Minimum depth: 1733.243288 meters looking forward 100.000000 meters along route # Maximum depth: 1735.817210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.243288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076621; longitude = -129.990967; duration = 408; initialDepth = 1684.783578; finalDepth = 1683.243288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1385930000001 # Actual altitude: 54.1385930000001 # Commanded vehicle depth: 1683.243288 # Seafloor depth: -1734.117376 # 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 28 # Segment length 102.218680 meters # Minimum depth: 1734.783578 meters looking forward 100.000000 meters along route # Maximum depth: 1736.874775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.783578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077425; longitude = -129.990323; duration = 408; initialDepth = 1684.643816; finalDepth = 1684.783578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.874088 # Actual altitude: 50.874088 # Commanded vehicle depth: 1684.783578 # Seafloor depth: -1735.409149 # 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 28 # Segment length 102.218330 meters # Minimum depth: 1734.643816 meters looking forward 100.000000 meters along route # Maximum depth: 1739.211693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.643816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078228; longitude = -129.989680; duration = 408; initialDepth = 1682.536201; finalDepth = 1684.643816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.625571 # Actual altitude: 50.625571 # Commanded vehicle depth: 1684.643816 # Seafloor depth: -1734.643816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.217979 meters # Minimum depth: 1732.536201 meters looking forward 100.000000 meters along route # Maximum depth: 1737.513377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.536201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079032; longitude = -129.989036; duration = 408; initialDepth = 1674.951305; finalDepth = 1682.536201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3587470000002 # Actual altitude: 54.3587470000002 # Commanded vehicle depth: 1682.536201 # Seafloor depth: -1736.894948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.217630 meters # Minimum depth: 1724.951305 meters looking forward 100.000000 meters along route # Maximum depth: 1731.489907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.951305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079835; longitude = -129.988393; duration = 408; initialDepth = 1677.446495; finalDepth = 1674.951305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.518014 # Actual altitude: 56.518014 # Commanded vehicle depth: 1674.951305 # Seafloor depth: -1731.469319 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.217279 meters # Minimum depth: 1727.446495 meters looking forward 100.000000 meters along route # Maximum depth: 1731.209292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.446495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080639; longitude = -129.987749; duration = 408; initialDepth = 1683.148418; finalDepth = 1677.446495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.518014 # Actual altitude: 56.518014 # Commanded vehicle depth: 1677.446495 # Seafloor depth: -1729.296373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.216928 meters # Minimum depth: 1733.148418 meters looking forward 100.000000 meters along route # Maximum depth: 1739.302556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.148418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081443; longitude = -129.987106; duration = 408; initialDepth = 1684.310865; finalDepth = 1683.148418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.849878 # Actual altitude: 51.849878 # Commanded vehicle depth: 1683.148418 # Seafloor depth: -1733.272237 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.216578 meters # Minimum depth: 1734.310865 meters looking forward 100.000000 meters along route # Maximum depth: 1738.517463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.310865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082246; longitude = -129.986463; duration = 408; initialDepth = 1679.428575; finalDepth = 1684.310865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.479777 # Actual altitude: 53.479777 # Commanded vehicle depth: 1684.310865 # Seafloor depth: -1737.790642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.216228 meters # Minimum depth: 1729.428575 meters looking forward 100.000000 meters along route # Maximum depth: 1735.304139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.428575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083050; longitude = -129.985819; duration = 408; initialDepth = 1676.240128; finalDepth = 1679.428575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8755640000002 # Actual altitude: 55.8755640000002 # Commanded vehicle depth: 1679.428575 # Seafloor depth: -1735.304139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.215878 meters # Minimum depth: 1726.240128 meters looking forward 100.000000 meters along route # Maximum depth: 1732.781886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.240128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083853; longitude = -129.985176; duration = 408; initialDepth = 1676.378327; finalDepth = 1676.240128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8755640000002 # Actual altitude: 55.8755640000002 # Commanded vehicle depth: 1676.240128 # Seafloor depth: -1730.826708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.215527 meters # Minimum depth: 1726.378327 meters looking forward 100.000000 meters along route # Maximum depth: 1728.164759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.378327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084657; longitude = -129.984532; duration = 408; initialDepth = 1675.896503; finalDepth = 1676.378327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5865800000001 # Actual altitude: 54.5865800000001 # Commanded vehicle depth: 1676.378327 # Seafloor depth: -1726.531824 # 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 28 # Segment length 102.215177 meters # Minimum depth: 1725.896503 meters looking forward 100.000000 meters along route # Maximum depth: 1728.923503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.896503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085460; longitude = -129.983889; duration = 408; initialDepth = 1680.106329; finalDepth = 1675.896503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.178913 # Actual altitude: 52.178913 # Commanded vehicle depth: 1675.896503 # Seafloor depth: -1728.075416 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.214827 meters # Minimum depth: 1730.106329 meters looking forward 100.000000 meters along route # Maximum depth: 1731.618646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.106329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086264; longitude = -129.983245; duration = 408; initialDepth = 1680.022318; finalDepth = 1680.106329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.178913 # Actual altitude: 52.178913 # Commanded vehicle depth: 1680.106329 # Seafloor depth: -1731.403956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 102.214477 meters # Minimum depth: 1730.022318 meters looking forward 100.000000 meters along route # Maximum depth: 1733.026068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.022318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087068; longitude = -129.982602; duration = 408; initialDepth = 1681.792824; finalDepth = 1680.022318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2976270000001 # Actual altitude: 51.2976270000001 # Commanded vehicle depth: 1680.022318 # Seafloor depth: -1730.391037 # 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 28 # Segment length 105.549757 meters # Minimum depth: 1731.792824 meters looking forward 100.000000 meters along route # Maximum depth: 1740.595946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.792824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087871; longitude = -129.981958; duration = 422; initialDepth = 1677.368852; finalDepth = 1681.792824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.3687190000001 # Actual altitude: 50.3687190000001 # Commanded vehicle depth: 1681.792824 # Seafloor depth: -1731.792824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 147.753039 meters # Minimum depth: 1727.368852 meters looking forward 100.000000 meters along route # Maximum depth: 1741.262177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.368852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088701; longitude = -129.981294; duration = 591; # abortOnTimeout = True; initialDepth = 1676.864580; finalDepth = 1677.368852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.893325 # Actual altitude: 63.893325 # Commanded vehicle depth: 1677.368852 # Seafloor depth: -1741.262177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 85.182011 meters # Minimum depth: 1726.864580 meters looking forward 100.000000 meters along route # Maximum depth: 1730.358301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.864580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089345; longitude = -129.982966; duration = 340; # abortOnTimeout = True; initialDepth = 1674.764530; finalDepth = 1676.864580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.893325 # Actual altitude: 63.893325 # Commanded vehicle depth: 1676.86458 # Seafloor depth: -1728.411560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 102.123990 meters # Minimum depth: 1724.764530 meters looking forward 100.000000 meters along route # Maximum depth: 1727.279716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.764530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088676; longitude = -129.983503; duration = 408; initialDepth = 1674.030798; finalDepth = 1674.764530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2001260000002 # Actual altitude: 52.2001260000002 # Commanded vehicle depth: 1674.76453 # Seafloor depth: -1726.964656 # 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 26 # Segment length 102.124340 meters # Minimum depth: 1724.030798 meters looking forward 100.000000 meters along route # Maximum depth: 1726.682292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.030798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087873; longitude = -129.984146; duration = 408; initialDepth = 1672.715004; finalDepth = 1674.030798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2001260000002 # Actual altitude: 52.2001260000002 # Commanded vehicle depth: 1674.030798 # Seafloor depth: -1725.436343 # 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 26 # Segment length 102.124690 meters # Minimum depth: 1722.715004 meters looking forward 100.000000 meters along route # Maximum depth: 1725.456758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.715004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087070; longitude = -129.984790; duration = 408; initialDepth = 1675.345855; finalDepth = 1672.715004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4055450000001 # Actual altitude: 51.4055450000001 # Commanded vehicle depth: 1672.715004 # Seafloor depth: -1722.715004 # 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 26 # Segment length 102.125041 meters # Minimum depth: 1725.345855 meters looking forward 100.000000 meters along route # Maximum depth: 1728.126972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.345855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086268; longitude = -129.985433; duration = 408; initialDepth = 1676.642355; finalDepth = 1675.345855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1675.345855 # Seafloor depth: -1725.345855 # 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 102.125390 meters # Minimum depth: 1726.642355 meters looking forward 100.000000 meters along route # Maximum depth: 1731.885162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.642355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085465; longitude = -129.986076; duration = 408; initialDepth = 1680.547367; finalDepth = 1676.642355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.406782 # Actual altitude: 52.406782 # Commanded vehicle depth: 1676.642355 # Seafloor depth: -1729.049137 # 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 26 # Segment length 102.125741 meters # Minimum depth: 1730.547367 meters looking forward 100.000000 meters along route # Maximum depth: 1736.140272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.547367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084662; longitude = -129.986720; duration = 408; initialDepth = 1682.446830; finalDepth = 1680.547367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.406782 # Actual altitude: 52.406782 # Commanded vehicle depth: 1680.547367 # Seafloor depth: -1730.547367 # 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 26 # Segment length 102.126092 meters # Minimum depth: 1732.446830 meters looking forward 100.000000 meters along route # Maximum depth: 1735.305898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.446830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083860; longitude = -129.987363; duration = 408; initialDepth = 1680.065203; finalDepth = 1682.446830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9481879999998 # Actual altitude: 51.9481879999998 # Commanded vehicle depth: 1682.44683 # Seafloor depth: -1734.395018 # 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 26 # Segment length 102.126441 meters # Minimum depth: 1730.065203 meters looking forward 100.000000 meters along route # Maximum depth: 1732.153124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.065203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083057; longitude = -129.988007; duration = 408; initialDepth = 1680.535222; finalDepth = 1680.065203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0879209999998 # Actual altitude: 52.0879209999998 # Commanded vehicle depth: 1680.065203 # Seafloor depth: -1732.153124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.126792 meters # Minimum depth: 1730.535222 meters looking forward 100.000000 meters along route # Maximum depth: 1733.342572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.535222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082254; longitude = -129.988650; duration = 408; initialDepth = 1682.910485; finalDepth = 1680.535222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0879209999998 # Actual altitude: 52.0879209999998 # Commanded vehicle depth: 1680.535222 # Seafloor depth: -1730.535222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.127142 meters # Minimum depth: 1732.910485 meters looking forward 100.000000 meters along route # Maximum depth: 1736.155643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.910485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081452; longitude = -129.989294; duration = 408; initialDepth = 1682.592464; finalDepth = 1682.910485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1682.910485 # Seafloor depth: -1732.910485 # 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 102.127492 meters # Minimum depth: 1732.592464 meters looking forward 100.000000 meters along route # Maximum depth: 1735.664024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.592464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080649; longitude = -129.989937; duration = 408; initialDepth = 1681.355644; finalDepth = 1682.592464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9684199999999 # Actual altitude: 52.9684199999999 # Commanded vehicle depth: 1682.592464 # Seafloor depth: -1735.560884 # 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 26 # Segment length 102.127843 meters # Minimum depth: 1731.355644 meters looking forward 100.000000 meters along route # Maximum depth: 1734.119027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.355644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079846; longitude = -129.990581; duration = 408; initialDepth = 1681.342608; finalDepth = 1681.355644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9684199999999 # Actual altitude: 52.9684199999999 # Commanded vehicle depth: 1681.355644 # Seafloor depth: -1733.735328 # 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 26 # Segment length 102.128193 meters # Minimum depth: 1731.342608 meters looking forward 100.000000 meters along route # Maximum depth: 1734.801550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.342608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079044; longitude = -129.991224; duration = 408; initialDepth = 1681.785745; finalDepth = 1681.342608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.379684 # Actual altitude: 52.379684 # Commanded vehicle depth: 1681.342608 # Seafloor depth: -1733.081926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.128543 meters # Minimum depth: 1731.785745 meters looking forward 100.000000 meters along route # Maximum depth: 1736.266257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.785745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078241; longitude = -129.991867; duration = 408; initialDepth = 1682.214728; finalDepth = 1681.785745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7393180000001 # Actual altitude: 51.7393180000001 # Commanded vehicle depth: 1681.785745 # Seafloor depth: -1732.348983 # 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 26 # Segment length 102.128893 meters # Minimum depth: 1732.214728 meters looking forward 100.000000 meters along route # Maximum depth: 1734.996155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.214728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077438; longitude = -129.992511; duration = 408; initialDepth = 1680.285944; finalDepth = 1682.214728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0293860000002 # Actual altitude: 52.0293860000002 # Commanded vehicle depth: 1682.214728 # Seafloor depth: -1734.244114 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.129244 meters # Minimum depth: 1730.285944 meters looking forward 100.000000 meters along route # Maximum depth: 1733.285831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.285944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076636; longitude = -129.993154; duration = 408; initialDepth = 1675.608338; finalDepth = 1680.285944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.035781 # Actual altitude: 52.035781 # Commanded vehicle depth: 1680.285944 # Seafloor depth: -1732.321725 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.129594 meters # Minimum depth: 1725.608338 meters looking forward 100.000000 meters along route # Maximum depth: 1730.861713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.608338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075833; longitude = -129.993798; duration = 408; initialDepth = 1669.335428; finalDepth = 1675.608338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6895790000001 # Actual altitude: 54.6895790000001 # Commanded vehicle depth: 1675.608338 # Seafloor depth: -1730.297917 # 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 26 # Segment length 102.129945 meters # Minimum depth: 1719.335428 meters looking forward 100.000000 meters along route # Maximum depth: 1724.262044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.335428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075030; longitude = -129.994441; duration = 408; initialDepth = 1670.999752; finalDepth = 1669.335428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.926616 # Actual altitude: 54.926616 # Commanded vehicle depth: 1669.335428 # Seafloor depth: -1724.262044 # 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 26 # Segment length 102.130294 meters # Minimum depth: 1720.999752 meters looking forward 100.000000 meters along route # Maximum depth: 1728.772477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.999752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074228; longitude = -129.995085; duration = 408; initialDepth = 1676.425654; finalDepth = 1670.999752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.926616 # Actual altitude: 54.926616 # Commanded vehicle depth: 1670.999752 # Seafloor depth: -1721.400148 # 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 26 # Segment length 102.130645 meters # Minimum depth: 1726.425654 meters looking forward 100.000000 meters along route # Maximum depth: 1729.611124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.425654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073425; longitude = -129.995728; duration = 408; initialDepth = 1675.343161; finalDepth = 1676.425654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9975920000002 # Actual altitude: 51.9975920000002 # Commanded vehicle depth: 1676.425654 # Seafloor depth: -1728.423246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.130996 meters # Minimum depth: 1725.343161 meters looking forward 100.000000 meters along route # Maximum depth: 1729.628371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.343161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072622; longitude = -129.996372; duration = 408; initialDepth = 1673.145211; finalDepth = 1675.343161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9975920000002 # Actual altitude: 51.9975920000002 # Commanded vehicle depth: 1675.343161 # Seafloor depth: -1725.680458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.131346 meters # Minimum depth: 1723.145211 meters looking forward 100.000000 meters along route # Maximum depth: 1726.523436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.145211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071820; longitude = -129.997015; duration = 408; initialDepth = 1671.894023; finalDepth = 1673.145211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3242150000001 # Actual altitude: 53.3242150000001 # Commanded vehicle depth: 1673.145211 # Seafloor depth: -1726.469426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.131696 meters # Minimum depth: 1721.894023 meters looking forward 100.000000 meters along route # Maximum depth: 1725.465648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.894023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071017; longitude = -129.997658; duration = 408; initialDepth = 1670.949553; finalDepth = 1671.894023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.571625 # Actual altitude: 53.571625 # Commanded vehicle depth: 1671.894023 # Seafloor depth: -1725.465648 # 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 26 # Segment length 102.132046 meters # Minimum depth: 1720.949553 meters looking forward 100.000000 meters along route # Maximum depth: 1723.767345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.949553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070214; longitude = -129.998302; duration = 408; initialDepth = 1668.175703; finalDepth = 1670.949553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.571625 # Actual altitude: 53.571625 # Commanded vehicle depth: 1670.949553 # Seafloor depth: -1723.263236 # 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 26 # Segment length 102.132397 meters # Minimum depth: 1718.175703 meters looking forward 100.000000 meters along route # Maximum depth: 1723.730305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.175703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069412; longitude = -129.998945; duration = 408; initialDepth = 1654.356398; finalDepth = 1668.175703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5546019999999 # Actual altitude: 55.5546019999999 # Commanded vehicle depth: 1668.175703 # Seafloor depth: -1723.730305 # 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 26 # Segment length 102.132747 meters # Minimum depth: 1704.356398 meters looking forward 100.000000 meters along route # Maximum depth: 1718.901252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.356398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068609; longitude = -129.999589; duration = 408; initialDepth = 1642.531437; finalDepth = 1654.356398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.9878180000001 # Actual altitude: 62.9878180000001 # Commanded vehicle depth: 1654.356398 # Seafloor depth: -1717.344216 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.133098 meters # Minimum depth: 1692.531437 meters looking forward 100.000000 meters along route # Maximum depth: 1704.380896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.531437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067807; longitude = -130.000232; duration = 408; initialDepth = 1643.675958; finalDepth = 1642.531437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.9878180000001 # Actual altitude: 62.9878180000001 # Commanded vehicle depth: 1642.531437 # Seafloor depth: -1704.380896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.133448 meters # Minimum depth: 1693.675958 meters looking forward 100.000000 meters along route # Maximum depth: 1697.924930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.675958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067004; longitude = -130.000876; duration = 408; initialDepth = 1639.357460; finalDepth = 1643.675958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8494589999998 # Actual altitude: 61.8494589999998 # Commanded vehicle depth: 1643.675958 # Seafloor depth: -1697.924930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.133798 meters # Minimum depth: 1689.357460 meters looking forward 100.000000 meters along route # Maximum depth: 1695.250414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.357460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066201; longitude = -130.001519; duration = 408; initialDepth = 1636.420791; finalDepth = 1639.357460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.864362 # Actual altitude: 54.864362 # Commanded vehicle depth: 1639.35746 # Seafloor depth: -1694.221822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.134149 meters # Minimum depth: 1686.420791 meters looking forward 100.000000 meters along route # Maximum depth: 1689.711430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.420791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065399; longitude = -130.002162; duration = 408; initialDepth = 1637.061113; finalDepth = 1636.420791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.864362 # Actual altitude: 54.864362 # Commanded vehicle depth: 1636.420791 # Seafloor depth: -1689.711430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.134499 meters # Minimum depth: 1687.061113 meters looking forward 100.000000 meters along route # Maximum depth: 1695.245990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.061113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064596; longitude = -130.002806; duration = 408; initialDepth = 1640.148174; finalDepth = 1637.061113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2906390000001 # Actual altitude: 53.2906390000001 # Commanded vehicle depth: 1637.061113 # Seafloor depth: -1687.061113 # 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 26 # Segment length 102.134849 meters # Minimum depth: 1690.148174 meters looking forward 100.000000 meters along route # Maximum depth: 1697.070634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.148174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063793; longitude = -130.003449; duration = 408; initialDepth = 1633.049610; finalDepth = 1640.148174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9965050000001 # Actual altitude: 53.9965050000001 # Commanded vehicle depth: 1640.148174 # Seafloor depth: -1694.144679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.135200 meters # Minimum depth: 1683.049610 meters looking forward 100.000000 meters along route # Maximum depth: 1688.936149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.049610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062991; longitude = -130.004093; duration = 408; initialDepth = 1635.245957; finalDepth = 1633.049610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7440320000001 # Actual altitude: 54.7440320000001 # Commanded vehicle depth: 1633.04961 # Seafloor depth: -1687.793642 # 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 26 # Segment length 102.135550 meters # Minimum depth: 1685.245957 meters looking forward 100.000000 meters along route # Maximum depth: 1686.414559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.245957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062188; longitude = -130.004736; duration = 408; initialDepth = 1634.902375; finalDepth = 1635.245957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7440320000001 # Actual altitude: 54.7440320000001 # Commanded vehicle depth: 1635.245957 # Seafloor depth: -1685.574159 # 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 26 # Segment length 102.135901 meters # Minimum depth: 1684.902375 meters looking forward 100.000000 meters along route # Maximum depth: 1686.371353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.902375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061385; longitude = -130.005380; duration = 408; initialDepth = 1635.760407; finalDepth = 1634.902375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1318580000002 # Actual altitude: 51.1318580000002 # Commanded vehicle depth: 1634.902375 # Seafloor depth: -1686.034233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.136251 meters # Minimum depth: 1685.760407 meters looking forward 100.000000 meters along route # Maximum depth: 1686.697161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.760407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060583; longitude = -130.006023; duration = 408; initialDepth = 1634.635041; finalDepth = 1635.760407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1318580000002 # Actual altitude: 51.1318580000002 # Commanded vehicle depth: 1635.760407 # Seafloor depth: -1686.431930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.136602 meters # Minimum depth: 1684.635041 meters looking forward 100.000000 meters along route # Maximum depth: 1686.500955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.635041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059780; longitude = -130.006667; duration = 408; initialDepth = 1633.956604; finalDepth = 1634.635041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9081859999999 # Actual altitude: 50.9081859999999 # Commanded vehicle depth: 1634.635041 # Seafloor depth: -1685.543227 # 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 26 # Segment length 102.136952 meters # Minimum depth: 1683.956604 meters looking forward 100.000000 meters along route # Maximum depth: 1685.602929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.956604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058977; longitude = -130.007310; duration = 408; initialDepth = 1631.700404; finalDepth = 1633.956604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.451292 # Actual altitude: 51.451292 # Commanded vehicle depth: 1633.956604 # Seafloor depth: -1685.407896 # 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 26 # Segment length 102.137302 meters # Minimum depth: 1681.700404 meters looking forward 100.000000 meters along route # Maximum depth: 1684.439442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.700404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058175; longitude = -130.007953; duration = 408; initialDepth = 1631.422885; finalDepth = 1631.700404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4388920000001 # Actual altitude: 52.4388920000001 # Commanded vehicle depth: 1631.700404 # Seafloor depth: -1684.139296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.137653 meters # Minimum depth: 1681.422885 meters looking forward 100.000000 meters along route # Maximum depth: 1684.019682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.422885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057372; longitude = -130.008597; duration = 408; initialDepth = 1625.942082; finalDepth = 1631.422885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4388920000001 # Actual altitude: 52.4388920000001 # Commanded vehicle depth: 1631.422885 # Seafloor depth: -1681.422885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.138004 meters # Minimum depth: 1675.942082 meters looking forward 100.000000 meters along route # Maximum depth: 1682.310994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.942082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056569; longitude = -130.009240; duration = 408; initialDepth = 1619.867196; finalDepth = 1625.942082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3415680000001 # Actual altitude: 56.3415680000001 # Commanded vehicle depth: 1625.942082 # Seafloor depth: -1682.283650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.138354 meters # Minimum depth: 1669.867196 meters looking forward 100.000000 meters along route # Maximum depth: 1674.046883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.867196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055767; longitude = -130.009884; duration = 408; initialDepth = 1618.641157; finalDepth = 1619.867196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3415680000001 # Actual altitude: 56.3415680000001 # Commanded vehicle depth: 1619.867196 # Seafloor depth: -1673.843979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.189905 meters # Minimum depth: 1668.641157 meters looking forward 100.000000 meters along route # Maximum depth: 1671.119944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.641157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054964; longitude = -130.010527; duration = 408; initialDepth = 1617.997188; finalDepth = 1618.641157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.9767830000001 # Actual altitude: 53.9767830000001 # Commanded vehicle depth: 1618.641157 # Seafloor depth: -1670.572699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 149.959178 meters # Minimum depth: 1667.997188 meters looking forward 100.000000 meters along route # Maximum depth: 1669.226259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.997188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054161; longitude = -130.011171; duration = 599; # abortOnTimeout = True; initialDepth = 1618.469883; finalDepth = 1617.997188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.931542 # Actual altitude: 51.931542 # Commanded vehicle depth: 1617.997188 # Seafloor depth: -1668.817200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 75.062152 meters # Minimum depth: 1668.469883 meters looking forward 100.000000 meters along route # Maximum depth: 1670.015425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.469883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054817; longitude = -130.012865; duration = 300; # abortOnTimeout = True; initialDepth = 1618.374139; finalDepth = 1618.469883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8200119999999 # Actual altitude: 50.8200119999999 # Commanded vehicle depth: 1618.469883 # Seafloor depth: -1669.133575 # 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 24 # Segment length 102.373024 meters # Minimum depth: 1668.374139 meters looking forward 100.000000 meters along route # Maximum depth: 1673.138503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.374139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055407; longitude = -130.012393; duration = 409; initialDepth = 1622.763187; finalDepth = 1618.374139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0091769999999 # Actual altitude: 51.0091769999999 # Commanded vehicle depth: 1618.374139 # Seafloor depth: -1669.383316 # 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 24 # Segment length 102.372674 meters # Minimum depth: 1672.763187 meters looking forward 100.000000 meters along route # Maximum depth: 1680.054292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.763187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056212; longitude = -130.011750; duration = 409; initialDepth = 1629.786686; finalDepth = 1622.763187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0091769999999 # Actual altitude: 51.0091769999999 # Commanded vehicle depth: 1622.763187 # Seafloor depth: -1672.763187 # 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 24 # Segment length 102.372323 meters # Minimum depth: 1679.786686 meters looking forward 100.000000 meters along route # Maximum depth: 1681.807674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.786686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057017; longitude = -130.011106; duration = 409; initialDepth = 1631.750870; finalDepth = 1629.786686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1629.786686 # Seafloor depth: -1679.786686 # 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 102.371973 meters # Minimum depth: 1681.750870 meters looking forward 100.000000 meters along route # Maximum depth: 1684.030379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.750870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057823; longitude = -130.010463; duration = 409; initialDepth = 1631.743871; finalDepth = 1631.750870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4965109999998 # Actual altitude: 50.4965109999998 # Commanded vehicle depth: 1631.75087 # Seafloor depth: -1682.247381 # 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 24 # Segment length 102.371622 meters # Minimum depth: 1681.743871 meters looking forward 100.000000 meters along route # Maximum depth: 1684.059300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.743871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058628; longitude = -130.009819; duration = 409; initialDepth = 1633.286513; finalDepth = 1631.743871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4965109999998 # Actual altitude: 50.4965109999998 # Commanded vehicle depth: 1631.743871 # Seafloor depth: -1681.743871 # 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 24 # Segment length 102.371271 meters # Minimum depth: 1683.286513 meters looking forward 100.000000 meters along route # Maximum depth: 1685.805047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.286513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059433; longitude = -130.009176; duration = 409; initialDepth = 1634.758118; finalDepth = 1633.286513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.434728 # Actual altitude: 50.434728 # Commanded vehicle depth: 1633.286513 # Seafloor depth: -1683.721241 # 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 24 # Segment length 102.370920 meters # Minimum depth: 1684.758118 meters looking forward 100.000000 meters along route # Maximum depth: 1685.878163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.758118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060238; longitude = -130.008533; duration = 409; initialDepth = 1633.174781; finalDepth = 1634.758118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.434728 # Actual altitude: 50.434728 # Commanded vehicle depth: 1634.758118 # Seafloor depth: -1685.154959 # 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 24 # Segment length 102.370570 meters # Minimum depth: 1683.174781 meters looking forward 100.000000 meters along route # Maximum depth: 1685.963596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.174781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061043; longitude = -130.007889; duration = 409; initialDepth = 1631.815494; finalDepth = 1633.174781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.972082 # Actual altitude: 51.972082 # Commanded vehicle depth: 1633.174781 # Seafloor depth: -1685.146863 # 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 24 # Segment length 102.370220 meters # Minimum depth: 1681.815494 meters looking forward 100.000000 meters along route # Maximum depth: 1683.894791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.815494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061848; longitude = -130.007246; duration = 409; initialDepth = 1632.138532; finalDepth = 1631.815494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9881950000001 # Actual altitude: 51.9881950000001 # Commanded vehicle depth: 1631.815494 # Seafloor depth: -1683.803689 # 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 24 # Segment length 102.369868 meters # Minimum depth: 1682.138532 meters looking forward 100.000000 meters along route # Maximum depth: 1683.676363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.138532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062653; longitude = -130.006602; duration = 409; initialDepth = 1632.687070; finalDepth = 1632.138532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9881950000001 # Actual altitude: 51.9881950000001 # Commanded vehicle depth: 1632.138532 # Seafloor depth: -1683.676363 # 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 24 # Segment length 102.369518 meters # Minimum depth: 1682.687070 meters looking forward 100.000000 meters along route # Maximum depth: 1685.346258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.687070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063458; longitude = -130.005959; duration = 409; initialDepth = 1633.556019; finalDepth = 1632.687070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5378310000001 # Actual altitude: 51.5378310000001 # Commanded vehicle depth: 1632.68707 # Seafloor depth: -1682.927255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.369168 meters # Minimum depth: 1683.556019 meters looking forward 100.000000 meters along route # Maximum depth: 1687.021549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.556019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064263; longitude = -130.005315; duration = 409; initialDepth = 1633.689797; finalDepth = 1633.556019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.56205 # Actual altitude: 50.56205 # Commanded vehicle depth: 1633.556019 # Seafloor depth: -1684.118069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.368816 meters # Minimum depth: 1683.689797 meters looking forward 100.000000 meters along route # Maximum depth: 1686.254766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.689797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065068; longitude = -130.004672; duration = 409; initialDepth = 1636.902875; finalDepth = 1633.689797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2368240000001 # Actual altitude: 51.2368240000001 # Commanded vehicle depth: 1633.689797 # Seafloor depth: -1684.926621 # 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 24 # Segment length 102.368467 meters # Minimum depth: 1686.902875 meters looking forward 100.000000 meters along route # Maximum depth: 1689.163061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.902875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065873; longitude = -130.004028; duration = 409; initialDepth = 1639.840365; finalDepth = 1636.902875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2368240000001 # Actual altitude: 51.2368240000001 # Commanded vehicle depth: 1636.902875 # Seafloor depth: -1687.003352 # 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 24 # Segment length 102.368115 meters # Minimum depth: 1689.840365 meters looking forward 100.000000 meters along route # Maximum depth: 1696.782962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.840365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066678; longitude = -130.003385; duration = 409; initialDepth = 1647.312676; finalDepth = 1639.840365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.100477 # Actual altitude: 50.100477 # Commanded vehicle depth: 1639.840365 # Seafloor depth: -1689.840365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.367765 meters # Minimum depth: 1697.312676 meters looking forward 100.000000 meters along route # Maximum depth: 1704.399071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.312676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067483; longitude = -130.002742; duration = 409; initialDepth = 1656.913003; finalDepth = 1647.312676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.237701 # Actual altitude: 50.237701 # Commanded vehicle depth: 1647.312676 # Seafloor depth: -1697.550377 # 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 24 # Segment length 102.367415 meters # Minimum depth: 1706.913003 meters looking forward 100.000000 meters along route # Maximum depth: 1709.781753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.913003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068288; longitude = -130.002098; duration = 409; initialDepth = 1658.247324; finalDepth = 1656.913003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3123210000001 # Actual altitude: 51.3123210000001 # Commanded vehicle depth: 1656.913003 # Seafloor depth: -1708.225324 # 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 24 # Segment length 102.367063 meters # Minimum depth: 1708.247324 meters looking forward 100.000000 meters along route # Maximum depth: 1712.404365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.247324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069094; longitude = -130.001455; duration = 409; initialDepth = 1663.659749; finalDepth = 1658.247324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3123210000001 # Actual altitude: 51.3123210000001 # Commanded vehicle depth: 1658.247324 # Seafloor depth: -1708.323525 # 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 24 # Segment length 102.366714 meters # Minimum depth: 1713.659749 meters looking forward 100.000000 meters along route # Maximum depth: 1724.362191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.659749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069899; longitude = -130.000811; duration = 409; initialDepth = 1672.749674; finalDepth = 1663.659749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0762010000001 # Actual altitude: 50.0762010000001 # Commanded vehicle depth: 1663.659749 # Seafloor depth: -1713.659749 # 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 24 # Segment length 102.366362 meters # Minimum depth: 1722.749674 meters looking forward 100.000000 meters along route # Maximum depth: 1725.358694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.749674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070704; longitude = -130.000168; duration = 409; initialDepth = 1672.947390; finalDepth = 1672.749674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2621940000001 # Actual altitude: 51.2621940000001 # Commanded vehicle depth: 1672.749674 # Seafloor depth: -1724.011868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.366012 meters # Minimum depth: 1722.947390 meters looking forward 100.000000 meters along route # Maximum depth: 1725.213883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.947390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071509; longitude = -129.999524; duration = 409; initialDepth = 1674.541989; finalDepth = 1672.947390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2621940000001 # Actual altitude: 51.2621940000001 # Commanded vehicle depth: 1672.94739 # Seafloor depth: -1723.248399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.365662 meters # Minimum depth: 1724.541989 meters looking forward 100.000000 meters along route # Maximum depth: 1728.256977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.541989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072314; longitude = -129.998881; duration = 409; initialDepth = 1677.302519; finalDepth = 1674.541989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.190609 # Actual altitude: 51.190609 # Commanded vehicle depth: 1674.541989 # Seafloor depth: -1725.732598 # 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 24 # Segment length 102.365311 meters # Minimum depth: 1727.302519 meters looking forward 100.000000 meters along route # Maximum depth: 1729.487971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.302519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073119; longitude = -129.998238; duration = 409; initialDepth = 1675.833164; finalDepth = 1677.302519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.190609 # Actual altitude: 51.190609 # Commanded vehicle depth: 1677.302519 # Seafloor depth: -1728.370002 # 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 24 # Segment length 102.364960 meters # Minimum depth: 1725.833164 meters looking forward 100.000000 meters along route # Maximum depth: 1730.955103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.833164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073924; longitude = -129.997594; duration = 409; initialDepth = 1675.635311; finalDepth = 1675.833164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3329640000002 # Actual altitude: 52.3329640000002 # Commanded vehicle depth: 1675.833164 # Seafloor depth: -1728.166128 # 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 102.364610 meters # Minimum depth: 1725.635311 meters looking forward 100.000000 meters along route # Maximum depth: 1729.971000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.635311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074729; longitude = -129.996951; duration = 409; initialDepth = 1676.256669; finalDepth = 1675.635311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.335689 # Actual altitude: 54.335689 # Commanded vehicle depth: 1675.635311 # Seafloor depth: -1729.971000 # 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 24 # Segment length 102.364259 meters # Minimum depth: 1726.256669 meters looking forward 100.000000 meters along route # Maximum depth: 1730.204788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.256669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075534; longitude = -129.996307; duration = 409; initialDepth = 1675.838061; finalDepth = 1676.256669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.335689 # Actual altitude: 54.335689 # Commanded vehicle depth: 1676.256669 # Seafloor depth: -1728.552595 # 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 24 # Segment length 102.363909 meters # Minimum depth: 1725.838061 meters looking forward 100.000000 meters along route # Maximum depth: 1730.116183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.838061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076339; longitude = -129.995664; duration = 409; initialDepth = 1679.901243; finalDepth = 1675.838061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3393900000001 # Actual altitude: 53.3393900000001 # Commanded vehicle depth: 1675.838061 # Seafloor depth: -1729.177451 # 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 24 # Segment length 102.363559 meters # Minimum depth: 1729.901243 meters looking forward 100.000000 meters along route # Maximum depth: 1732.037988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.901243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077144; longitude = -129.995020; duration = 409; initialDepth = 1680.015524; finalDepth = 1679.901243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3393900000001 # Actual altitude: 53.3393900000001 # Commanded vehicle depth: 1679.901243 # Seafloor depth: -1730.532904 # 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 24 # Segment length 102.363207 meters # Minimum depth: 1730.015524 meters looking forward 100.000000 meters along route # Maximum depth: 1734.281100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.015524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077949; longitude = -129.994377; duration = 409; initialDepth = 1682.549873; finalDepth = 1680.015524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6316609999999 # Actual altitude: 50.6316609999999 # Commanded vehicle depth: 1680.015524 # Seafloor depth: -1730.015524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.362858 meters # Minimum depth: 1732.549873 meters looking forward 100.000000 meters along route # Maximum depth: 1735.727889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.549873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078754; longitude = -129.993733; duration = 409; initialDepth = 1679.381047; finalDepth = 1682.549873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8229470000001 # Actual altitude: 51.8229470000001 # Commanded vehicle depth: 1682.549873 # Seafloor depth: -1734.372820 # 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 24 # Segment length 102.362506 meters # Minimum depth: 1729.381047 meters looking forward 100.000000 meters along route # Maximum depth: 1732.060583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.381047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079559; longitude = -129.993090; duration = 409; initialDepth = 1679.012667; finalDepth = 1679.381047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.617272 # Actual altitude: 52.617272 # Commanded vehicle depth: 1679.381047 # Seafloor depth: -1731.998319 # 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 24 # Segment length 102.362157 meters # Minimum depth: 1729.012667 meters looking forward 100.000000 meters along route # Maximum depth: 1731.886292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.012667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080365; longitude = -129.992447; duration = 409; initialDepth = 1678.693763; finalDepth = 1679.012667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6817040000001 # Actual altitude: 52.6817040000001 # Commanded vehicle depth: 1679.012667 # Seafloor depth: -1731.694371 # 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 24 # Segment length 102.361805 meters # Minimum depth: 1728.693763 meters looking forward 100.000000 meters along route # Maximum depth: 1730.856726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.693763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081170; longitude = -129.991803; duration = 409; initialDepth = 1678.877750; finalDepth = 1678.693763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6817040000001 # Actual altitude: 52.6817040000001 # Commanded vehicle depth: 1678.693763 # Seafloor depth: -1729.636727 # 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 24 # Segment length 102.361456 meters # Minimum depth: 1728.877750 meters looking forward 100.000000 meters along route # Maximum depth: 1731.446924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.877750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081975; longitude = -129.991160; duration = 409; initialDepth = 1679.237705; finalDepth = 1678.877750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5340899999999 # Actual altitude: 51.5340899999999 # Commanded vehicle depth: 1678.87775 # Seafloor depth: -1730.411840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.361104 meters # Minimum depth: 1729.237705 meters looking forward 100.000000 meters along route # Maximum depth: 1730.923399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.237705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082780; longitude = -129.990516; duration = 409; initialDepth = 1679.774649; finalDepth = 1679.237705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5340899999999 # Actual altitude: 51.5340899999999 # Commanded vehicle depth: 1679.237705 # Seafloor depth: -1730.504836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.360755 meters # Minimum depth: 1729.774649 meters looking forward 100.000000 meters along route # Maximum depth: 1731.109873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.774649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083585; longitude = -129.989873; duration = 409; initialDepth = 1672.114964; finalDepth = 1679.774649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2671310000001 # Actual altitude: 51.2671310000001 # Commanded vehicle depth: 1679.774649 # Seafloor depth: -1730.313777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.360403 meters # Minimum depth: 1722.114964 meters looking forward 100.000000 meters along route # Maximum depth: 1730.832856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.114964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084390; longitude = -129.989229; duration = 409; initialDepth = 1671.795807; finalDepth = 1672.114964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7178919999999 # Actual altitude: 58.7178919999999 # Commanded vehicle depth: 1672.114964 # Seafloor depth: -1730.832856 # 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 24 # Segment length 102.360054 meters # Minimum depth: 1721.795807 meters looking forward 100.000000 meters along route # Maximum depth: 1724.631958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.795807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085195; longitude = -129.988586; duration = 409; initialDepth = 1673.082611; finalDepth = 1671.795807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7178919999999 # Actual altitude: 58.7178919999999 # Commanded vehicle depth: 1671.795807 # Seafloor depth: -1724.631958 # 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 24 # Segment length 102.359703 meters # Minimum depth: 1723.082611 meters looking forward 100.000000 meters along route # Maximum depth: 1725.066737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.082611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086000; longitude = -129.987942; duration = 409; initialDepth = 1673.401848; finalDepth = 1673.082611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.836151 # Actual altitude: 52.836151 # Commanded vehicle depth: 1673.082611 # Seafloor depth: -1723.634753 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.359352 meters # Minimum depth: 1723.401848 meters looking forward 100.000000 meters along route # Maximum depth: 1727.984719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.401848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086805; longitude = -129.987299; duration = 409; initialDepth = 1678.654217; finalDepth = 1673.401848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0115700000001 # Actual altitude: 51.0115700000001 # Commanded vehicle depth: 1673.401848 # Seafloor depth: -1724.413418 # 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 24 # Segment length 102.359002 meters # Minimum depth: 1728.654217 meters looking forward 100.000000 meters along route # Maximum depth: 1735.282655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.654217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087610; longitude = -129.986656; duration = 409; initialDepth = 1683.229819; finalDepth = 1678.654217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0115700000001 # Actual altitude: 51.0115700000001 # Commanded vehicle depth: 1678.654217 # Seafloor depth: -1728.654217 # 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 24 # Segment length 102.358652 meters # Minimum depth: 1733.229819 meters looking forward 100.000000 meters along route # Maximum depth: 1739.781393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.229819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088415; longitude = -129.986012; duration = 409; initialDepth = 1691.588461; finalDepth = 1683.229819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3168050000002 # Actual altitude: 51.3168050000002 # Commanded vehicle depth: 1683.229819 # Seafloor depth: -1734.546624 # 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 24 # Segment length 105.736697 meters # Minimum depth: 1741.588461 meters looking forward 100.000000 meters along route # Maximum depth: 1746.580941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.588461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089220; longitude = -129.985369; duration = 422; initialDepth = 1690.558633; finalDepth = 1691.588461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.3168050000002 # Actual altitude: 51.3168050000002 # Commanded vehicle depth: 1691.588461 # Seafloor depth: -1741.588461 # 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; } # ####################################################### # # 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 151.857113 meters # Minimum depth: 1740.558633 meters looking forward 100.000000 meters along route # Maximum depth: 1745.973197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.558633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090052; longitude = -129.984704; duration = 607; # abortOnTimeout = True; initialDepth = 1688.117290; finalDepth = 1690.558633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.3714819999998 # Actual altitude: 53.3714819999998 # Commanded vehicle depth: 1690.558633 # Seafloor depth: -1743.930115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 170.669958 meters # Minimum depth: 1738.117290 meters looking forward 100.000000 meters along route # Maximum depth: 1742.922882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.117290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090717; longitude = -129.986420; duration = 682; # abortOnTimeout = True; initialDepth = 1687.803010; finalDepth = 1688.117290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8055920000002 # Actual altitude: 54.8055920000002 # Commanded vehicle depth: 1688.11729 # Seafloor depth: -1742.922882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.437517 meters # Minimum depth: 1737.803010 meters looking forward 100.000000 meters along route # Maximum depth: 1740.417260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.803010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089374; longitude = -129.987492; duration = 409; initialDepth = 1674.755160; finalDepth = 1687.803010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8055920000002 # Actual altitude: 54.8055920000002 # Commanded vehicle depth: 1687.80301 # Seafloor depth: -1738.523885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.437868 meters # Minimum depth: 1724.755160 meters looking forward 100.000000 meters along route # Maximum depth: 1737.000977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.755160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088568; longitude = -129.988135; duration = 409; initialDepth = 1676.559279; finalDepth = 1674.755160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.245817 # Actual altitude: 62.245817 # Commanded vehicle depth: 1674.75516 # Seafloor depth: -1737.000977 # 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 22 # Segment length 102.438218 meters # Minimum depth: 1726.559279 meters looking forward 100.000000 meters along route # Maximum depth: 1735.922965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.559279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087763; longitude = -129.988779; duration = 409; initialDepth = 1685.584443; finalDepth = 1676.559279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.245817 # Actual altitude: 62.245817 # Commanded vehicle depth: 1676.559279 # Seafloor depth: -1726.559279 # 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 22 # Segment length 102.438568 meters # Minimum depth: 1735.584443 meters looking forward 100.000000 meters along route # Maximum depth: 1741.854749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.584443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086957; longitude = -129.989422; duration = 409; initialDepth = 1689.118531; finalDepth = 1685.584443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.713968 # Actual altitude: 51.713968 # Commanded vehicle depth: 1685.584443 # Seafloor depth: -1737.298411 # 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 22 # Segment length 102.438919 meters # Minimum depth: 1739.118531 meters looking forward 100.000000 meters along route # Maximum depth: 1744.951503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.118531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086151; longitude = -129.990066; duration = 409; initialDepth = 1684.083464; finalDepth = 1689.118531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.713968 # Actual altitude: 51.713968 # Commanded vehicle depth: 1689.118531 # Seafloor depth: -1740.616905 # 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 22 # Segment length 102.439270 meters # Minimum depth: 1734.083464 meters looking forward 100.000000 meters along route # Maximum depth: 1746.716960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.083464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085345; longitude = -129.990709; duration = 409; initialDepth = 1689.909129; finalDepth = 1684.083464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.424336 # Actual altitude: 61.424336 # Commanded vehicle depth: 1684.083464 # Seafloor depth: -1745.507800 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.439620 meters # Minimum depth: 1739.909129 meters looking forward 100.000000 meters along route # Maximum depth: 1742.802364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.909129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084539; longitude = -129.991353; duration = 409; initialDepth = 1681.678369; finalDepth = 1689.909129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.424336 # Actual altitude: 61.424336 # Commanded vehicle depth: 1689.909129 # Seafloor depth: -1742.802364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.439971 meters # Minimum depth: 1731.678369 meters looking forward 100.000000 meters along route # Maximum depth: 1739.940215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.678369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083733; longitude = -129.991996; duration = 409; initialDepth = 1682.674497; finalDepth = 1681.678369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.647837 # Actual altitude: 57.647837 # Commanded vehicle depth: 1681.678369 # Seafloor depth: -1739.326206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.440322 meters # Minimum depth: 1732.674497 meters looking forward 100.000000 meters along route # Maximum depth: 1736.561949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.674497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082927; longitude = -129.992640; duration = 409; initialDepth = 1683.823239; finalDepth = 1682.674497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.647837 # Actual altitude: 57.647837 # Commanded vehicle depth: 1682.674497 # Seafloor depth: -1734.000486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.440672 meters # Minimum depth: 1733.823239 meters looking forward 100.000000 meters along route # Maximum depth: 1736.349949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.823239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082121; longitude = -129.993283; duration = 409; initialDepth = 1683.936238; finalDepth = 1683.823239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5267099999999 # Actual altitude: 52.5267099999999 # Commanded vehicle depth: 1683.823239 # Seafloor depth: -1736.349949 # 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 22 # Segment length 102.441022 meters # Minimum depth: 1733.936238 meters looking forward 100.000000 meters along route # Maximum depth: 1735.722888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.936238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081315; longitude = -129.993926; duration = 409; initialDepth = 1682.499836; finalDepth = 1683.936238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5267099999999 # Actual altitude: 52.5267099999999 # Commanded vehicle depth: 1683.936238 # Seafloor depth: -1734.954237 # 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 22 # Segment length 102.441373 meters # Minimum depth: 1732.499836 meters looking forward 100.000000 meters along route # Maximum depth: 1737.840839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.499836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080510; longitude = -129.994570; duration = 409; initialDepth = 1682.066579; finalDepth = 1682.499836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.341003 # Actual altitude: 55.341003 # Commanded vehicle depth: 1682.499836 # Seafloor depth: -1737.840839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.441724 meters # Minimum depth: 1732.066579 meters looking forward 100.000000 meters along route # Maximum depth: 1734.270552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.066579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079704; longitude = -129.995213; duration = 409; initialDepth = 1682.436618; finalDepth = 1682.066579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.341003 # Actual altitude: 55.341003 # Commanded vehicle depth: 1682.066579 # Seafloor depth: -1732.433373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.442075 meters # Minimum depth: 1732.436618 meters looking forward 100.000000 meters along route # Maximum depth: 1734.417404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.436618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078898; longitude = -129.995857; duration = 409; initialDepth = 1682.964005; finalDepth = 1682.436618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3913830000001 # Actual altitude: 50.3913830000001 # Commanded vehicle depth: 1682.436618 # Seafloor depth: -1732.828001 # 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 22 # Segment length 102.442424 meters # Minimum depth: 1732.964005 meters looking forward 100.000000 meters along route # Maximum depth: 1736.417319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.964005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078092; longitude = -129.996500; duration = 409; initialDepth = 1679.687732; finalDepth = 1682.964005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.429738 # Actual altitude: 50.429738 # Commanded vehicle depth: 1682.964005 # Seafloor depth: -1733.393743 # 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 22 # Segment length 102.442776 meters # Minimum depth: 1729.687732 meters looking forward 100.000000 meters along route # Maximum depth: 1733.468369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.687732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077286; longitude = -129.997144; duration = 409; initialDepth = 1678.979066; finalDepth = 1679.687732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7806369999998 # Actual altitude: 53.7806369999998 # Commanded vehicle depth: 1679.687732 # Seafloor depth: -1733.468369 # 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 22 # Segment length 102.443126 meters # Minimum depth: 1728.979066 meters looking forward 100.000000 meters along route # Maximum depth: 1731.925740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.979066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076480; longitude = -129.997787; duration = 409; initialDepth = 1684.426808; finalDepth = 1678.979066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7806369999998 # Actual altitude: 53.7806369999998 # Commanded vehicle depth: 1678.979066 # Seafloor depth: -1729.452716 # 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 22 # Segment length 102.443477 meters # Minimum depth: 1734.426808 meters looking forward 100.000000 meters along route # Maximum depth: 1736.595735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.426808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075674; longitude = -129.998431; duration = 409; initialDepth = 1678.380516; finalDepth = 1684.426808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4736499999999 # Actual altitude: 50.4736499999999 # Commanded vehicle depth: 1684.426808 # Seafloor depth: -1734.770231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.443828 meters # Minimum depth: 1728.380516 meters looking forward 100.000000 meters along route # Maximum depth: 1734.211648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.380516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074868; longitude = -129.999074; duration = 409; initialDepth = 1656.252682; finalDepth = 1678.380516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.831132 # Actual altitude: 55.831132 # Commanded vehicle depth: 1678.380516 # Seafloor depth: -1734.211648 # 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 22 # Segment length 102.444178 meters # Minimum depth: 1706.252682 meters looking forward 100.000000 meters along route # Maximum depth: 1731.045795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.252682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074062; longitude = -129.999717; duration = 409; initialDepth = 1663.137380; finalDepth = 1656.252682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.7931129999999 # Actual altitude: 74.7931129999999 # Commanded vehicle depth: 1656.252682 # Seafloor depth: -1731.045795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.444528 meters # Minimum depth: 1713.137380 meters looking forward 100.000000 meters along route # Maximum depth: 1724.191634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.137380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073257; longitude = -130.000361; duration = 409; initialDepth = 1672.781250; finalDepth = 1663.137380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.7931129999999 # Actual altitude: 74.7931129999999 # Commanded vehicle depth: 1663.13738 # Seafloor depth: -1713.137380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.444880 meters # Minimum depth: 1722.781250 meters looking forward 100.000000 meters along route # Maximum depth: 1724.894340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.781250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072451; longitude = -130.001004; duration = 409; initialDepth = 1671.311988; finalDepth = 1672.781250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7851069999999 # Actual altitude: 50.7851069999999 # Commanded vehicle depth: 1672.78125 # Seafloor depth: -1723.566357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.445230 meters # Minimum depth: 1721.311988 meters looking forward 100.000000 meters along route # Maximum depth: 1723.857501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.311988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071645; longitude = -130.001648; duration = 409; initialDepth = 1653.296807; finalDepth = 1671.311988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7851069999999 # Actual altitude: 50.7851069999999 # Commanded vehicle depth: 1671.311988 # Seafloor depth: -1721.311988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.445580 meters # Minimum depth: 1703.296807 meters looking forward 100.000000 meters along route # Maximum depth: 1721.218735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.296807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070839; longitude = -130.002291; duration = 409; initialDepth = 1651.534489; finalDepth = 1653.296807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.921928 # Actual altitude: 67.921928 # Commanded vehicle depth: 1653.296807 # Seafloor depth: -1721.218735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.445932 meters # Minimum depth: 1701.534489 meters looking forward 100.000000 meters along route # Maximum depth: 1704.599013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.534489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070033; longitude = -130.002935; duration = 409; initialDepth = 1644.000571; finalDepth = 1651.534489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.921928 # Actual altitude: 67.921928 # Commanded vehicle depth: 1651.534489 # Seafloor depth: -1703.560600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.446282 meters # Minimum depth: 1694.000571 meters looking forward 100.000000 meters along route # Maximum depth: 1700.674785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.000571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069227; longitude = -130.003578; duration = 409; initialDepth = 1641.707843; finalDepth = 1644.000571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6742139999999 # Actual altitude: 56.6742139999999 # Commanded vehicle depth: 1644.000571 # Seafloor depth: -1700.674785 # 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 22 # Segment length 102.446633 meters # Minimum depth: 1691.707843 meters looking forward 100.000000 meters along route # Maximum depth: 1695.616046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.707843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068421; longitude = -130.004222; duration = 409; initialDepth = 1635.920883; finalDepth = 1641.707843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6742139999999 # Actual altitude: 56.6742139999999 # Commanded vehicle depth: 1641.707843 # Seafloor depth: -1695.616046 # 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 22 # Segment length 102.446983 meters # Minimum depth: 1685.920883 meters looking forward 100.000000 meters along route # Maximum depth: 1691.730688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.920883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067615; longitude = -130.004865; duration = 409; initialDepth = 1633.221444; finalDepth = 1635.920883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2722209999999 # Actual altitude: 55.2722209999999 # Commanded vehicle depth: 1635.920883 # Seafloor depth: -1691.193104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.447334 meters # Minimum depth: 1683.221444 meters looking forward 100.000000 meters along route # Maximum depth: 1685.782831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.221444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066810; longitude = -130.005508; duration = 409; initialDepth = 1630.475800; finalDepth = 1633.221444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2722209999999 # Actual altitude: 55.2722209999999 # Commanded vehicle depth: 1633.221444 # Seafloor depth: -1685.782831 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.447685 meters # Minimum depth: 1680.475800 meters looking forward 100.000000 meters along route # Maximum depth: 1682.656532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.475800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066004; longitude = -130.006152; duration = 409; initialDepth = 1629.954760; finalDepth = 1630.475800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.561387 # Actual altitude: 52.561387 # Commanded vehicle depth: 1630.4758 # Seafloor depth: -1682.656532 # 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 22 # Segment length 102.448035 meters # Minimum depth: 1679.954760 meters looking forward 100.000000 meters along route # Maximum depth: 1683.563116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.954760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065198; longitude = -130.006795; duration = 409; initialDepth = 1633.134452; finalDepth = 1629.954760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.180732 # Actual altitude: 52.180732 # Commanded vehicle depth: 1629.95476 # Seafloor depth: -1681.006490 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.448387 meters # Minimum depth: 1683.134452 meters looking forward 100.000000 meters along route # Maximum depth: 1685.759210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.134452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064392; longitude = -130.007439; duration = 409; initialDepth = 1631.760364; finalDepth = 1633.134452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0517299999999 # Actual altitude: 51.0517299999999 # Commanded vehicle depth: 1633.134452 # Seafloor depth: -1683.134452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.448737 meters # Minimum depth: 1681.760364 meters looking forward 100.000000 meters along route # Maximum depth: 1684.040701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.760364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063586; longitude = -130.008082; duration = 409; initialDepth = 1628.648863; finalDepth = 1631.760364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4980150000001 # Actual altitude: 51.4980150000001 # Commanded vehicle depth: 1631.760364 # Seafloor depth: -1683.258379 # 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 22 # Segment length 102.449087 meters # Minimum depth: 1678.648863 meters looking forward 100.000000 meters along route # Maximum depth: 1681.048172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.648863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062780; longitude = -130.008726; duration = 409; initialDepth = 1632.005098; finalDepth = 1628.648863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3993090000001 # Actual altitude: 52.3993090000001 # Commanded vehicle depth: 1628.648863 # Seafloor depth: -1681.048172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.449439 meters # Minimum depth: 1682.005098 meters looking forward 100.000000 meters along route # Maximum depth: 1684.115463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.005098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061974; longitude = -130.009369; duration = 409; initialDepth = 1630.393252; finalDepth = 1632.005098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3993090000001 # Actual altitude: 52.3993090000001 # Commanded vehicle depth: 1632.005098 # Seafloor depth: -1682.005098 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.449789 meters # Minimum depth: 1680.393252 meters looking forward 100.000000 meters along route # Maximum depth: 1684.570194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.393252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061168; longitude = -130.010012; duration = 409; initialDepth = 1629.211361; finalDepth = 1630.393252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.273901 # Actual altitude: 52.273901 # Commanded vehicle depth: 1630.393252 # Seafloor depth: -1682.667153 # 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 22 # Segment length 102.450140 meters # Minimum depth: 1679.211361 meters looking forward 100.000000 meters along route # Maximum depth: 1682.452919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.211361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060362; longitude = -130.010656; duration = 409; initialDepth = 1622.813391; finalDepth = 1629.211361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9441760000002 # Actual altitude: 52.9441760000002 # Commanded vehicle depth: 1629.211361 # Seafloor depth: -1682.155537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.450490 meters # Minimum depth: 1672.813391 meters looking forward 100.000000 meters along route # Maximum depth: 1679.066323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.813391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059557; longitude = -130.011299; duration = 409; initialDepth = 1621.880300; finalDepth = 1622.813391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2529320000001 # Actual altitude: 56.2529320000001 # Commanded vehicle depth: 1622.813391 # Seafloor depth: -1679.066323 # 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 22 # Segment length 102.450841 meters # Minimum depth: 1671.880300 meters looking forward 100.000000 meters along route # Maximum depth: 1673.577476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.880300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058751; longitude = -130.011943; duration = 409; initialDepth = 1621.743320; finalDepth = 1621.880300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2529320000001 # Actual altitude: 56.2529320000001 # Commanded vehicle depth: 1621.8803 # Seafloor depth: -1672.634328 # 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 22 # Segment length 102.451193 meters # Minimum depth: 1671.743320 meters looking forward 100.000000 meters along route # Maximum depth: 1674.903624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.743320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057945; longitude = -130.012586; duration = 409; initialDepth = 1618.463860; finalDepth = 1621.743320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7540280000001 # Actual altitude: 50.7540280000001 # Commanded vehicle depth: 1621.74332 # Seafloor depth: -1671.743320 # 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 22 # Segment length 102.451542 meters # Minimum depth: 1668.463860 meters looking forward 100.000000 meters along route # Maximum depth: 1671.929055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.463860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057139; longitude = -130.013230; duration = 409; initialDepth = 1614.769289; finalDepth = 1618.463860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.465195 # Actual altitude: 53.465195 # Commanded vehicle depth: 1618.46386 # Seafloor depth: -1671.929055 # 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 22 # Segment length 109.207411 meters # Minimum depth: 1664.769289 meters looking forward 100.000000 meters along route # Maximum depth: 1667.914347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.769289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056333; longitude = -130.013873; duration = 436; initialDepth = 1614.212649; finalDepth = 1614.769289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.465195 # Actual altitude: 53.465195 # Commanded vehicle depth: 1614.769289 # Seafloor depth: -1667.914347 # 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; } # ####################################################### # # 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 150.024158 meters # Minimum depth: 1664.212649 meters looking forward 100.000000 meters along route # Maximum depth: 1666.666353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.212649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055474; longitude = -130.014559; duration = 600; # abortOnTimeout = True; initialDepth = 1615.614044; finalDepth = 1614.212649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.1450579999998 # Actual altitude: 53.1450579999998 # Commanded vehicle depth: 1614.212649 # Seafloor depth: -1665.910919 # 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; } # ####################################################### # # 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 174.281474 meters # Minimum depth: 1665.614044 meters looking forward 100.000000 meters along route # Maximum depth: 1672.301949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.614044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056130; longitude = -130.016254; duration = 697; # abortOnTimeout = True; initialDepth = 1621.609672; finalDepth = 1615.614044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6982699999999 # Actual altitude: 51.6982699999999 # Commanded vehicle depth: 1615.614044 # Seafloor depth: -1665.614044 # 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 20 # Segment length 102.505320 meters # Minimum depth: 1671.609672 meters looking forward 100.000000 meters along route # Maximum depth: 1673.200637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.609672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057501; longitude = -130.015160; duration = 410; initialDepth = 1624.036830; finalDepth = 1621.609672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.103572 # Actual altitude: 50.103572 # Commanded vehicle depth: 1621.609672 # Seafloor depth: -1671.713244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.504969 meters # Minimum depth: 1674.036830 meters looking forward 100.000000 meters along route # Maximum depth: 1678.242789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.036830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058308; longitude = -130.014517; duration = 410; initialDepth = 1620.508535; finalDepth = 1624.036830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.103572 # Actual altitude: 50.103572 # Commanded vehicle depth: 1624.03683 # Seafloor depth: -1674.036830 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.504618 meters # Minimum depth: 1670.508535 meters looking forward 100.000000 meters along route # Maximum depth: 1677.485980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.508535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059114; longitude = -130.013873; duration = 410; initialDepth = 1622.174097; finalDepth = 1620.508535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.977445 # Actual altitude: 56.977445 # Commanded vehicle depth: 1620.508535 # Seafloor depth: -1677.485980 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.504268 meters # Minimum depth: 1672.174097 meters looking forward 100.000000 meters along route # Maximum depth: 1675.330638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.174097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059920; longitude = -130.013230; duration = 410; initialDepth = 1622.914419; finalDepth = 1622.174097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.977445 # Actual altitude: 56.977445 # Commanded vehicle depth: 1622.174097 # Seafloor depth: -1673.980946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.503917 meters # Minimum depth: 1672.914419 meters looking forward 100.000000 meters along route # Maximum depth: 1677.189946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.914419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060727; longitude = -130.012586; duration = 410; initialDepth = 1629.895634; finalDepth = 1622.914419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8068489999998 # Actual altitude: 51.8068489999998 # Commanded vehicle depth: 1622.914419 # Seafloor depth: -1673.634763 # 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 20 # Segment length 102.503566 meters # Minimum depth: 1679.895634 meters looking forward 100.000000 meters along route # Maximum depth: 1686.047286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.895634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061533; longitude = -130.011943; duration = 410; initialDepth = 1630.906070; finalDepth = 1629.895634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7203440000001 # Actual altitude: 50.7203440000001 # Commanded vehicle depth: 1629.895634 # Seafloor depth: -1679.895634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.503215 meters # Minimum depth: 1680.906070 meters looking forward 100.000000 meters along route # Maximum depth: 1682.993673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.906070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062340; longitude = -130.011299; duration = 410; initialDepth = 1630.223109; finalDepth = 1630.906070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0093830000001 # Actual altitude: 52.0093830000001 # Commanded vehicle depth: 1630.90607 # Seafloor depth: -1682.915453 # 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 20 # Segment length 102.502865 meters # Minimum depth: 1680.223109 meters looking forward 100.000000 meters along route # Maximum depth: 1684.193319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.223109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063146; longitude = -130.010656; duration = 410; initialDepth = 1633.102104; finalDepth = 1630.223109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0093830000001 # Actual altitude: 52.0093830000001 # Commanded vehicle depth: 1630.223109 # Seafloor depth: -1681.716068 # 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 20 # Segment length 102.502514 meters # Minimum depth: 1683.102104 meters looking forward 100.000000 meters along route # Maximum depth: 1685.222853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.102104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063953; longitude = -130.010012; duration = 410; initialDepth = 1631.538197; finalDepth = 1633.102104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4929589999999 # Actual altitude: 51.4929589999999 # Commanded vehicle depth: 1633.102104 # Seafloor depth: -1684.455250 # 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 20 # Segment length 102.502163 meters # Minimum depth: 1681.538197 meters looking forward 100.000000 meters along route # Maximum depth: 1684.819981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.538197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064759; longitude = -130.009369; duration = 410; initialDepth = 1629.112614; finalDepth = 1631.538197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6881899999998 # Actual altitude: 52.6881899999998 # Commanded vehicle depth: 1631.538197 # Seafloor depth: -1684.226387 # 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 20 # Segment length 102.501812 meters # Minimum depth: 1679.112614 meters looking forward 100.000000 meters along route # Maximum depth: 1683.240207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.112614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065566; longitude = -130.008726; duration = 410; initialDepth = 1627.954380; finalDepth = 1629.112614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1275930000002 # Actual altitude: 54.1275930000002 # Commanded vehicle depth: 1629.112614 # Seafloor depth: -1683.240207 # 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 102.501461 meters # Minimum depth: 1677.954380 meters looking forward 100.000000 meters along route # Maximum depth: 1682.175577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.954380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066372; longitude = -130.008082; duration = 410; initialDepth = 1631.213682; finalDepth = 1627.954380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1275930000002 # Actual altitude: 54.1275930000002 # Commanded vehicle depth: 1627.95438 # Seafloor depth: -1678.407802 # 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 102.501111 meters # Minimum depth: 1681.213682 meters looking forward 100.000000 meters along route # Maximum depth: 1689.683094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.213682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067178; longitude = -130.007439; duration = 410; initialDepth = 1638.238821; finalDepth = 1631.213682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6159729999999 # Actual altitude: 50.6159729999999 # Commanded vehicle depth: 1631.213682 # Seafloor depth: -1681.829655 # 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 20 # Segment length 102.500760 meters # Minimum depth: 1688.238821 meters looking forward 100.000000 meters along route # Maximum depth: 1691.370348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.238821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067985; longitude = -130.006795; duration = 410; initialDepth = 1639.958698; finalDepth = 1638.238821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6159729999999 # Actual altitude: 50.6159729999999 # Commanded vehicle depth: 1638.238821 # Seafloor depth: -1688.696029 # 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 20 # Segment length 102.500409 meters # Minimum depth: 1689.958698 meters looking forward 100.000000 meters along route # Maximum depth: 1691.844305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.958698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068791; longitude = -130.006152; duration = 410; initialDepth = 1641.136232; finalDepth = 1639.958698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8856070000002 # Actual altitude: 51.8856070000002 # Commanded vehicle depth: 1639.958698 # Seafloor depth: -1691.844305 # 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 20 # Segment length 102.500058 meters # Minimum depth: 1691.136232 meters looking forward 100.000000 meters along route # Maximum depth: 1708.787108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.136232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069598; longitude = -130.005508; duration = 410; initialDepth = 1654.857882; finalDepth = 1641.136232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8856070000002 # Actual altitude: 51.8856070000002 # Commanded vehicle depth: 1641.136232 # Seafloor depth: -1691.136232 # 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 20 # Segment length 102.499708 meters # Minimum depth: 1704.857882 meters looking forward 100.000000 meters along route # Maximum depth: 1710.441654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.857882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070404; longitude = -130.004865; duration = 409; initialDepth = 1648.838272; finalDepth = 1654.857882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3176120000001 # Actual altitude: 55.3176120000001 # Commanded vehicle depth: 1654.857882 # Seafloor depth: -1710.175494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.499357 meters # Minimum depth: 1698.838272 meters looking forward 100.000000 meters along route # Maximum depth: 1708.227910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.838272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071211; longitude = -130.004222; duration = 409; initialDepth = 1649.664771; finalDepth = 1648.838272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.057045 # Actual altitude: 57.057045 # Commanded vehicle depth: 1648.838272 # Seafloor depth: -1705.895317 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.499006 meters # Minimum depth: 1699.664771 meters looking forward 100.000000 meters along route # Maximum depth: 1710.311373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.664771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072017; longitude = -130.003578; duration = 409; initialDepth = 1662.566489; finalDepth = 1649.664771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.057045 # Actual altitude: 57.057045 # Commanded vehicle depth: 1649.664771 # Seafloor depth: -1705.307784 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.498656 meters # Minimum depth: 1712.566489 meters looking forward 100.000000 meters along route # Maximum depth: 1718.148413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.566489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072824; longitude = -130.002935; duration = 409; initialDepth = 1657.914319; finalDepth = 1662.566489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6430130000001 # Actual altitude: 55.6430130000001 # Commanded vehicle depth: 1662.566489 # Seafloor depth: -1712.566489 # 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 20 # Segment length 102.498304 meters # Minimum depth: 1707.914319 meters looking forward 100.000000 meters along route # Maximum depth: 1722.710515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.914319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073630; longitude = -130.002291; duration = 409; initialDepth = 1674.925232; finalDepth = 1657.914319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.812625 # Actual altitude: 53.812625 # Commanded vehicle depth: 1657.914319 # Seafloor depth: -1711.726944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.497954 meters # Minimum depth: 1724.925232 meters looking forward 100.000000 meters along route # Maximum depth: 1731.550328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.925232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074436; longitude = -130.001648; duration = 409; initialDepth = 1681.501768; finalDepth = 1674.925232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.812625 # Actual altitude: 53.812625 # Commanded vehicle depth: 1674.925232 # Seafloor depth: -1724.925232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.497604 meters # Minimum depth: 1731.501768 meters looking forward 100.000000 meters along route # Maximum depth: 1739.291227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.501768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075243; longitude = -130.001004; duration = 409; initialDepth = 1680.805905; finalDepth = 1681.501768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.528137 # Actual altitude: 51.528137 # Commanded vehicle depth: 1681.501768 # Seafloor depth: -1733.029905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.497253 meters # Minimum depth: 1730.805905 meters looking forward 100.000000 meters along route # Maximum depth: 1739.653173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.805905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076049; longitude = -130.000361; duration = 409; initialDepth = 1678.253007; finalDepth = 1680.805905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.847268 # Actual altitude: 58.847268 # Commanded vehicle depth: 1680.805905 # Seafloor depth: -1739.653173 # 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 20 # Segment length 102.496902 meters # Minimum depth: 1728.253007 meters looking forward 100.000000 meters along route # Maximum depth: 1732.330281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.253007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076856; longitude = -129.999717; duration = 409; initialDepth = 1680.410445; finalDepth = 1678.253007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.847268 # Actual altitude: 58.847268 # Commanded vehicle depth: 1678.253007 # Seafloor depth: -1729.727634 # 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 20 # Segment length 102.496551 meters # Minimum depth: 1730.410445 meters looking forward 100.000000 meters along route # Maximum depth: 1737.640423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.410445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077662; longitude = -129.999074; duration = 409; initialDepth = 1687.412617; finalDepth = 1680.410445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4746270000001 # Actual altitude: 51.4746270000001 # Commanded vehicle depth: 1680.410445 # Seafloor depth: -1730.410445 # 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 20 # Segment length 102.496201 meters # Minimum depth: 1737.412617 meters looking forward 100.000000 meters along route # Maximum depth: 1746.698836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.412617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078469; longitude = -129.998431; duration = 409; initialDepth = 1686.884177; finalDepth = 1687.412617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1687.412617 # Seafloor depth: -1737.412617 # 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 102.495850 meters # Minimum depth: 1736.884177 meters looking forward 100.000000 meters along route # Maximum depth: 1750.334515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.884177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079275; longitude = -129.997787; duration = 409; initialDepth = 1698.887634; finalDepth = 1686.884177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.806732 # Actual altitude: 54.806732 # Commanded vehicle depth: 1686.884177 # Seafloor depth: -1741.690909 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.495499 meters # Minimum depth: 1748.887634 meters looking forward 100.000000 meters along route # Maximum depth: 1751.394134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.887634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080082; longitude = -129.997144; duration = 409; initialDepth = 1699.475535; finalDepth = 1698.887634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.806732 # Actual altitude: 54.806732 # Commanded vehicle depth: 1698.887634 # Seafloor depth: -1749.603604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.495149 meters # Minimum depth: 1749.475535 meters looking forward 100.000000 meters along route # Maximum depth: 1753.583345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.475535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080888; longitude = -129.996500; duration = 409; initialDepth = 1695.444420; finalDepth = 1699.475535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1662309999999 # Actual altitude: 51.1662309999999 # Commanded vehicle depth: 1699.475535 # Seafloor depth: -1750.641766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.494798 meters # Minimum depth: 1745.444420 meters looking forward 100.000000 meters along route # Maximum depth: 1753.061932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.444420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081694; longitude = -129.995857; duration = 409; initialDepth = 1694.624104; finalDepth = 1695.444420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2385879999999 # Actual altitude: 56.2385879999999 # Commanded vehicle depth: 1695.44442 # Seafloor depth: -1751.683008 # 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 20 # Segment length 102.494447 meters # Minimum depth: 1744.624104 meters looking forward 100.000000 meters along route # Maximum depth: 1752.696413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.624104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082501; longitude = -129.995213; duration = 409; initialDepth = 1702.071215; finalDepth = 1694.624104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2385879999999 # Actual altitude: 56.2385879999999 # Commanded vehicle depth: 1694.624104 # Seafloor depth: -1745.246066 # 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 20 # Segment length 102.494097 meters # Minimum depth: 1752.071215 meters looking forward 100.000000 meters along route # Maximum depth: 1764.602688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.071215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083307; longitude = -129.994570; duration = 409; initialDepth = 1697.123404; finalDepth = 1702.071215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6219619999999 # Actual altitude: 50.6219619999999 # Commanded vehicle depth: 1702.071215 # Seafloor depth: -1752.071215 # 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 20 # Segment length 102.493746 meters # Minimum depth: 1747.123404 meters looking forward 100.000000 meters along route # Maximum depth: 1762.815590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.123404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084114; longitude = -129.993926; duration = 409; initialDepth = 1696.229636; finalDepth = 1697.123404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4643130000002 # Actual altitude: 60.4643130000002 # Commanded vehicle depth: 1697.123404 # Seafloor depth: -1757.587717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.493396 meters # Minimum depth: 1746.229636 meters looking forward 100.000000 meters along route # Maximum depth: 1748.566327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.229636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084920; longitude = -129.993283; duration = 409; initialDepth = 1693.478330; finalDepth = 1696.229636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4643130000002 # Actual altitude: 60.4643130000002 # Commanded vehicle depth: 1696.229636 # Seafloor depth: -1747.024200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.493044 meters # Minimum depth: 1743.478330 meters looking forward 100.000000 meters along route # Maximum depth: 1746.399868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.478330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085727; longitude = -129.992640; duration = 409; initialDepth = 1692.573371; finalDepth = 1693.478330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7909020000002 # Actual altitude: 52.7909020000002 # Commanded vehicle depth: 1693.47833 # Seafloor depth: -1746.269232 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.492695 meters # Minimum depth: 1742.573371 meters looking forward 100.000000 meters along route # Maximum depth: 1745.598934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.573371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086533; longitude = -129.991996; duration = 409; initialDepth = 1693.234294; finalDepth = 1692.573371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7909020000002 # Actual altitude: 52.7909020000002 # Commanded vehicle depth: 1692.573371 # Seafloor depth: -1743.937995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.492343 meters # Minimum depth: 1743.234294 meters looking forward 100.000000 meters along route # Maximum depth: 1745.666088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.234294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087340; longitude = -129.991353; duration = 409; initialDepth = 1693.186147; finalDepth = 1693.234294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.364624 # Actual altitude: 51.364624 # Commanded vehicle depth: 1693.234294 # Seafloor depth: -1744.370945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.491993 meters # Minimum depth: 1743.186147 meters looking forward 100.000000 meters along route # Maximum depth: 1745.214851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.186147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088146; longitude = -129.990709; duration = 409; initialDepth = 1693.471583; finalDepth = 1693.186147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1366509999998 # Actual altitude: 51.1366509999998 # Commanded vehicle depth: 1693.186147 # Seafloor depth: -1743.859031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.491643 meters # Minimum depth: 1743.471583 meters looking forward 100.000000 meters along route # Maximum depth: 1746.017629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.471583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088952; longitude = -129.990066; duration = 409; initialDepth = 1693.018539; finalDepth = 1693.471583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6728840000001 # Actual altitude: 50.6728840000001 # Commanded vehicle depth: 1693.471583 # Seafloor depth: -1743.640538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.491292 meters # Minimum depth: 1743.018539 meters looking forward 100.000000 meters along route # Maximum depth: 1744.653837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.018539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089759; longitude = -129.989422; duration = 409; initialDepth = 1693.737734; finalDepth = 1693.018539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.548076 # Actual altitude: 50.548076 # Commanded vehicle depth: 1693.018539 # Seafloor depth: -1743.566615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 109.256816 meters # Minimum depth: 1743.737734 meters looking forward 100.000000 meters along route # Maximum depth: 1745.826181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.737734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090565; longitude = -129.988779; duration = 437; initialDepth = 1691.299032; finalDepth = 1693.737734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.6990089999999 # Actual altitude: 50.6990089999999 # Commanded vehicle depth: 1693.737734 # Seafloor depth: -1744.436743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 151.530995 meters # Minimum depth: 1741.299032 meters looking forward 100.000000 meters along route # Maximum depth: 1745.288544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.299032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091425; longitude = -129.988093; duration = 606; # abortOnTimeout = True; initialDepth = 1692.403809; finalDepth = 1691.299032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.9895120000001 # Actual altitude: 53.9895120000001 # Commanded vehicle depth: 1691.299032 # Seafloor depth: -1745.288544 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 147.131368 meters # Minimum depth: 1742.403809 meters looking forward 100.000000 meters along route # Maximum depth: 1744.865945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.403809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092111; longitude = -129.989787; duration = 588; # abortOnTimeout = True; initialDepth = 1693.176906; finalDepth = 1692.403809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9895120000001 # Actual altitude: 53.9895120000001 # Commanded vehicle depth: 1692.403809 # Seafloor depth: -1742.403809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.652893 meters # Minimum depth: 1743.176906 meters looking forward 100.000000 meters along route # Maximum depth: 1744.498764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.176906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090953; longitude = -129.990709; duration = 410; initialDepth = 1693.966196; finalDepth = 1693.176906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.321858 # Actual altitude: 51.321858 # Commanded vehicle depth: 1693.176906 # Seafloor depth: -1744.498764 # 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 18 # Segment length 102.653244 meters # Minimum depth: 1743.966196 meters looking forward 100.000000 meters along route # Maximum depth: 1745.615024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.966196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090145; longitude = -129.991353; duration = 410; initialDepth = 1690.058643; finalDepth = 1693.966196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.321858 # Actual altitude: 51.321858 # Commanded vehicle depth: 1693.966196 # Seafloor depth: -1745.155975 # 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 18 # Segment length 102.653595 meters # Minimum depth: 1740.058643 meters looking forward 100.000000 meters along route # Maximum depth: 1743.301823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.058643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089337; longitude = -129.991996; duration = 410; initialDepth = 1691.260943; finalDepth = 1690.058643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2431799999999 # Actual altitude: 53.2431799999999 # Commanded vehicle depth: 1690.058643 # Seafloor depth: -1743.301823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.653945 meters # Minimum depth: 1741.260943 meters looking forward 100.000000 meters along route # Maximum depth: 1742.771283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.260943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088528; longitude = -129.992640; duration = 410; initialDepth = 1692.861502; finalDepth = 1691.260943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2431799999999 # Actual altitude: 53.2431799999999 # Commanded vehicle depth: 1691.260943 # Seafloor depth: -1741.967100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.654297 meters # Minimum depth: 1742.861502 meters looking forward 100.000000 meters along route # Maximum depth: 1744.119333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.861502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087720; longitude = -129.993283; duration = 410; initialDepth = 1693.563539; finalDepth = 1692.861502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7061570000001 # Actual altitude: 50.7061570000001 # Commanded vehicle depth: 1692.861502 # Seafloor depth: -1742.931695 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.654647 meters # Minimum depth: 1743.563539 meters looking forward 100.000000 meters along route # Maximum depth: 1749.610492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.563539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086912; longitude = -129.993926; duration = 410; initialDepth = 1699.702496; finalDepth = 1693.563539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.070193 # Actual altitude: 50.070193 # Commanded vehicle depth: 1693.563539 # Seafloor depth: -1743.563539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.654998 meters # Minimum depth: 1749.702496 meters looking forward 100.000000 meters along route # Maximum depth: 1758.109271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.702496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086104; longitude = -129.994570; duration = 410; initialDepth = 1708.791195; finalDepth = 1699.702496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1699.702496 # Seafloor depth: -1749.702496 # 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 102.655348 meters # Minimum depth: 1758.791195 meters looking forward 100.000000 meters along route # Maximum depth: 1770.182990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.791195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085296; longitude = -129.995213; duration = 410; initialDepth = 1713.685923; finalDepth = 1708.791195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1708.791195 # Seafloor depth: -1758.791195 # 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 102.655700 meters # Minimum depth: 1763.685923 meters looking forward 100.000000 meters along route # Maximum depth: 1767.507117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.685923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084488; longitude = -129.995857; duration = 410; initialDepth = 1701.952108; finalDepth = 1713.685923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8211940000001 # Actual altitude: 53.8211940000001 # Commanded vehicle depth: 1713.685923 # Seafloor depth: -1767.507117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.656050 meters # Minimum depth: 1751.952108 meters looking forward 100.000000 meters along route # Maximum depth: 1763.742175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.952108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083680; longitude = -129.996500; duration = 410; initialDepth = 1699.333029; finalDepth = 1701.952108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.765099 # Actual altitude: 61.765099 # Commanded vehicle depth: 1701.952108 # Seafloor depth: -1763.717207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.656401 meters # Minimum depth: 1749.333029 meters looking forward 100.000000 meters along route # Maximum depth: 1751.527964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.333029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082872; longitude = -129.997144; duration = 410; initialDepth = 1699.098525; finalDepth = 1699.333029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.765099 # Actual altitude: 61.765099 # Commanded vehicle depth: 1699.333029 # Seafloor depth: -1751.527964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.656752 meters # Minimum depth: 1749.098525 meters looking forward 100.000000 meters along route # Maximum depth: 1750.604333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.098525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082064; longitude = -129.997787; duration = 410; initialDepth = 1698.783849; finalDepth = 1699.098525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1949350000002 # Actual altitude: 52.1949350000002 # Commanded vehicle depth: 1699.098525 # Seafloor depth: -1750.108819 # 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 18 # Segment length 102.657102 meters # Minimum depth: 1748.783849 meters looking forward 100.000000 meters along route # Maximum depth: 1750.747174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.783849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081255; longitude = -129.998431; duration = 410; initialDepth = 1698.714217; finalDepth = 1698.783849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9633250000002 # Actual altitude: 51.9633250000002 # Commanded vehicle depth: 1698.783849 # Seafloor depth: -1750.747174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.657454 meters # Minimum depth: 1748.714217 meters looking forward 100.000000 meters along route # Maximum depth: 1750.909849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.714217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080447; longitude = -129.999074; duration = 410; initialDepth = 1692.196642; finalDepth = 1698.714217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9633250000002 # Actual altitude: 51.9633250000002 # Commanded vehicle depth: 1698.714217 # Seafloor depth: -1750.225581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.657804 meters # Minimum depth: 1742.196642 meters looking forward 100.000000 meters along route # Maximum depth: 1748.500794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.196642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079639; longitude = -129.999717; duration = 410; initialDepth = 1687.820092; finalDepth = 1692.196642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1886149999998 # Actual altitude: 56.1886149999998 # Commanded vehicle depth: 1692.196642 # Seafloor depth: -1748.385257 # 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 102.658155 meters # Minimum depth: 1737.820092 meters looking forward 100.000000 meters along route # Maximum depth: 1741.638597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.820092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078831; longitude = -130.000361; duration = 410; initialDepth = 1668.432297; finalDepth = 1687.820092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1886149999998 # Actual altitude: 56.1886149999998 # Commanded vehicle depth: 1687.820092 # Seafloor depth: -1741.638597 # 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 102.658506 meters # Minimum depth: 1718.432297 meters looking forward 100.000000 meters along route # Maximum depth: 1737.764799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.432297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078023; longitude = -130.001004; duration = 410; initialDepth = 1671.884859; finalDepth = 1668.432297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.332502 # Actual altitude: 69.332502 # Commanded vehicle depth: 1668.432297 # Seafloor depth: -1737.764799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.658857 meters # Minimum depth: 1721.884859 meters looking forward 100.000000 meters along route # Maximum depth: 1732.075967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.884859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077215; longitude = -130.001648; duration = 410; initialDepth = 1674.497146; finalDepth = 1671.884859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.332502 # Actual altitude: 69.332502 # Commanded vehicle depth: 1671.884859 # Seafloor depth: -1721.884859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.659207 meters # Minimum depth: 1724.497146 meters looking forward 100.000000 meters along route # Maximum depth: 1735.142275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.497146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076407; longitude = -130.002291; duration = 410; initialDepth = 1670.587623; finalDepth = 1674.497146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.645129 # Actual altitude: 60.645129 # Commanded vehicle depth: 1674.497146 # Seafloor depth: -1735.142275 # 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 18 # Segment length 102.659559 meters # Minimum depth: 1720.587623 meters looking forward 100.000000 meters along route # Maximum depth: 1727.756324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.587623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075599; longitude = -130.002935; duration = 410; initialDepth = 1650.486261; finalDepth = 1670.587623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.645129 # Actual altitude: 60.645129 # Commanded vehicle depth: 1670.587623 # Seafloor depth: -1724.235414 # 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 18 # Segment length 102.659909 meters # Minimum depth: 1700.486261 meters looking forward 100.000000 meters along route # Maximum depth: 1716.846042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.486261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074791; longitude = -130.003578; duration = 410; initialDepth = 1648.068764; finalDepth = 1650.486261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3597809999999 # Actual altitude: 66.3597809999999 # Commanded vehicle depth: 1650.486261 # Seafloor depth: -1716.846042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.660260 meters # Minimum depth: 1698.068764 meters looking forward 100.000000 meters along route # Maximum depth: 1718.458713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.068764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073982; longitude = -130.004222; duration = 410; initialDepth = 1667.692314; finalDepth = 1648.068764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3597809999999 # Actual altitude: 66.3597809999999 # Commanded vehicle depth: 1648.068764 # Seafloor depth: -1698.068764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.660612 meters # Minimum depth: 1717.692314 meters looking forward 100.000000 meters along route # Maximum depth: 1720.177544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.692314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073174; longitude = -130.004865; duration = 410; initialDepth = 1650.024827; finalDepth = 1667.692314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0221620000002 # Actual altitude: 52.0221620000002 # Commanded vehicle depth: 1667.692314 # Seafloor depth: -1719.714476 # 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 18 # Segment length 102.660961 meters # Minimum depth: 1700.024827 meters looking forward 100.000000 meters along route # Maximum depth: 1713.710601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.024827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072366; longitude = -130.005508; duration = 410; initialDepth = 1649.824972; finalDepth = 1650.024827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.685774 # Actual altitude: 63.685774 # Commanded vehicle depth: 1650.024827 # Seafloor depth: -1713.710601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.661313 meters # Minimum depth: 1699.824972 meters looking forward 100.000000 meters along route # Maximum depth: 1706.320179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.824972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071558; longitude = -130.006152; duration = 410; initialDepth = 1645.211287; finalDepth = 1649.824972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.685774 # Actual altitude: 63.685774 # Commanded vehicle depth: 1649.824972 # Seafloor depth: -1699.824972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.661664 meters # Minimum depth: 1695.211287 meters looking forward 100.000000 meters along route # Maximum depth: 1705.584508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.211287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070750; longitude = -130.006795; duration = 410; initialDepth = 1643.758025; finalDepth = 1645.211287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3732209999998 # Actual altitude: 60.3732209999998 # Commanded vehicle depth: 1645.211287 # Seafloor depth: -1705.584508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.662015 meters # Minimum depth: 1693.758025 meters looking forward 100.000000 meters along route # Maximum depth: 1696.988711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.758025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069942; longitude = -130.007439; duration = 410; initialDepth = 1641.500106; finalDepth = 1643.758025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3732209999998 # Actual altitude: 60.3732209999998 # Commanded vehicle depth: 1643.758025 # Seafloor depth: -1694.594388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.662365 meters # Minimum depth: 1691.500106 meters looking forward 100.000000 meters along route # Maximum depth: 1695.849085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.500106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069134; longitude = -130.008082; duration = 410; initialDepth = 1640.738363; finalDepth = 1641.500106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3489790000001 # Actual altitude: 54.3489790000001 # Commanded vehicle depth: 1641.500106 # Seafloor depth: -1695.849085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.662717 meters # Minimum depth: 1690.738363 meters looking forward 100.000000 meters along route # Maximum depth: 1693.636239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.738363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068326; longitude = -130.008726; duration = 410; initialDepth = 1641.081008; finalDepth = 1640.738363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3489790000001 # Actual altitude: 54.3489790000001 # Commanded vehicle depth: 1640.738363 # Seafloor depth: -1692.649667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.663067 meters # Minimum depth: 1691.081008 meters looking forward 100.000000 meters along route # Maximum depth: 1693.505209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.081008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067518; longitude = -130.009369; duration = 410; initialDepth = 1639.316625; finalDepth = 1641.081008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.911304 # Actual altitude: 51.911304 # Commanded vehicle depth: 1641.081008 # Seafloor depth: -1691.081008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.663418 meters # Minimum depth: 1689.316625 meters looking forward 100.000000 meters along route # Maximum depth: 1693.215042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.316625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066709; longitude = -130.010012; duration = 410; initialDepth = 1638.306482; finalDepth = 1639.316625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143112 # Actual altitude: 53.143112 # Commanded vehicle depth: 1639.316625 # Seafloor depth: -1692.459737 # 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 18 # Segment length 102.663769 meters # Minimum depth: 1688.306482 meters looking forward 100.000000 meters along route # Maximum depth: 1691.411926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.306482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065901; longitude = -130.010656; duration = 410; initialDepth = 1640.041649; finalDepth = 1638.306482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.143112 # Actual altitude: 53.143112 # Commanded vehicle depth: 1638.306482 # Seafloor depth: -1688.306482 # 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 18 # Segment length 102.664120 meters # Minimum depth: 1690.041649 meters looking forward 100.000000 meters along route # Maximum depth: 1692.542604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.041649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065093; longitude = -130.011299; duration = 410; initialDepth = 1636.376309; finalDepth = 1640.041649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3995 # Actual altitude: 51.3995 # Commanded vehicle depth: 1640.041649 # Seafloor depth: -1691.441149 # 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 18 # Segment length 102.664471 meters # Minimum depth: 1686.376309 meters looking forward 100.000000 meters along route # Maximum depth: 1692.322637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.376309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064285; longitude = -130.011943; duration = 410; initialDepth = 1633.610125; finalDepth = 1636.376309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.103742 # Actual altitude: 54.103742 # Commanded vehicle depth: 1636.376309 # Seafloor depth: -1690.480051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.664822 meters # Minimum depth: 1683.610125 meters looking forward 100.000000 meters along route # Maximum depth: 1686.635918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.610125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063477; longitude = -130.012586; duration = 410; initialDepth = 1631.146738; finalDepth = 1633.610125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.103742 # Actual altitude: 54.103742 # Commanded vehicle depth: 1633.610125 # Seafloor depth: -1686.635918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.665173 meters # Minimum depth: 1681.146738 meters looking forward 100.000000 meters along route # Maximum depth: 1684.893649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.146738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062669; longitude = -130.013230; duration = 410; initialDepth = 1621.368229; finalDepth = 1631.146738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7469110000002 # Actual altitude: 53.7469110000002 # Commanded vehicle depth: 1631.146738 # Seafloor depth: -1684.893649 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.665524 meters # Minimum depth: 1671.368229 meters looking forward 100.000000 meters along route # Maximum depth: 1680.298009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.368229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061861; longitude = -130.013873; duration = 410; initialDepth = 1620.195911; finalDepth = 1621.368229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9297800000002 # Actual altitude: 58.9297800000002 # Commanded vehicle depth: 1621.368229 # Seafloor depth: -1680.298009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.665875 meters # Minimum depth: 1670.195911 meters looking forward 100.000000 meters along route # Maximum depth: 1671.717347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.195911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061053; longitude = -130.014517; duration = 410; initialDepth = 1620.315791; finalDepth = 1620.195911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9297800000002 # Actual altitude: 58.9297800000002 # Commanded vehicle depth: 1620.195911 # Seafloor depth: -1671.706302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.666226 meters # Minimum depth: 1670.315791 meters looking forward 100.000000 meters along route # Maximum depth: 1674.047817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.315791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060245; longitude = -130.015160; duration = 410; initialDepth = 1621.298454; finalDepth = 1620.315791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.510391 # Actual altitude: 51.510391 # Commanded vehicle depth: 1620.315791 # Seafloor depth: -1670.892549 # 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 18 # Segment length 102.666577 meters # Minimum depth: 1671.298454 meters looking forward 100.000000 meters along route # Maximum depth: 1673.705731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.298454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059437; longitude = -130.015803; duration = 410; initialDepth = 1621.160701; finalDepth = 1621.298454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.244768 # Actual altitude: 52.244768 # Commanded vehicle depth: 1621.298454 # Seafloor depth: -1673.543222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.666927 meters # Minimum depth: 1671.160701 meters looking forward 100.000000 meters along route # Maximum depth: 1674.387224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.160701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058628; longitude = -130.016447; duration = 410; initialDepth = 1620.035326; finalDepth = 1621.160701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.244768 # Actual altitude: 52.244768 # Commanded vehicle depth: 1621.160701 # Seafloor depth: -1671.160701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.667279 meters # Minimum depth: 1670.035326 meters looking forward 100.000000 meters along route # Maximum depth: 1673.335979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.035326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057820; longitude = -130.017090; duration = 410; initialDepth = 1618.663490; finalDepth = 1620.035326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.300653 # Actual altitude: 53.300653 # Commanded vehicle depth: 1620.035326 # Seafloor depth: -1673.335979 # 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 18 # Segment length 102.667630 meters # Minimum depth: 1668.663490 meters looking forward 100.000000 meters along route # Maximum depth: 1670.087591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.663490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057012; longitude = -130.017734; duration = 410; initialDepth = 1620.193050; finalDepth = 1618.663490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.300653 # Actual altitude: 53.300653 # Commanded vehicle depth: 1618.66349 # Seafloor depth: -1669.671688 # 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 18 # Segment length 102.667981 meters # Minimum depth: 1670.193050 meters looking forward 100.000000 meters along route # Maximum depth: 1674.162861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.193050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056204; longitude = -130.018377; duration = 410; initialDepth = 1621.140012; finalDepth = 1620.193050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.008198 # Actual altitude: 51.008198 # Commanded vehicle depth: 1620.19305 # Seafloor depth: -1670.193050 # 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 18 # Segment length 109.512962 meters # Minimum depth: 1671.140012 meters looking forward 100.000000 meters along route # Maximum depth: 1674.590847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.140012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055396; longitude = -130.019021; duration = 438; initialDepth = 1620.229682; finalDepth = 1621.140012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.4508349999999 # Actual altitude: 53.4508349999999 # Commanded vehicle depth: 1621.140012 # Seafloor depth: -1674.590847 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 147.558609 meters # Minimum depth: 1670.229682 meters looking forward 100.000000 meters along route # Maximum depth: 1673.622928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.229682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054534; longitude = -130.019707; duration = 590; # abortOnTimeout = True; initialDepth = 1621.983643; finalDepth = 1620.229682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.4508349999999 # Actual altitude: 53.4508349999999 # Commanded vehicle depth: 1620.229682 # Seafloor depth: -1671.242920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 136.872557 meters # Minimum depth: 1671.983643 meters looking forward 100.000000 meters along route # Maximum depth: 1674.838169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.983643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055199; longitude = -130.021358; duration = 547; # abortOnTimeout = True; initialDepth = 1620.868891; finalDepth = 1621.983643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.013238 # Actual altitude: 51.013238 # Commanded vehicle depth: 1621.983643 # Seafloor depth: -1671.983643 # 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 16 # Segment length 102.713766 meters # Minimum depth: 1670.868891 meters looking forward 100.000000 meters along route # Maximum depth: 1672.325158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.868891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056276; longitude = -130.020501; duration = 410; initialDepth = 1621.263676; finalDepth = 1620.868891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.456267 # Actual altitude: 51.456267 # Commanded vehicle depth: 1620.868891 # Seafloor depth: -1672.325158 # 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 16 # Segment length 102.713414 meters # Minimum depth: 1671.263676 meters looking forward 100.000000 meters along route # Maximum depth: 1673.268129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.263676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057085; longitude = -130.019857; duration = 410; initialDepth = 1620.676997; finalDepth = 1621.263676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.456267 # Actual altitude: 51.456267 # Commanded vehicle depth: 1621.263676 # Seafloor depth: -1671.263676 # 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 16 # Segment length 102.713063 meters # Minimum depth: 1670.676997 meters looking forward 100.000000 meters along route # Maximum depth: 1672.981401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.676997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057894; longitude = -130.019214; duration = 410; initialDepth = 1620.902813; finalDepth = 1620.676997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9518419999999 # Actual altitude: 50.9518419999999 # Commanded vehicle depth: 1620.676997 # Seafloor depth: -1671.628839 # 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 16 # Segment length 102.712712 meters # Minimum depth: 1670.902813 meters looking forward 100.000000 meters along route # Maximum depth: 1674.493828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.902813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058702; longitude = -130.018570; duration = 410; initialDepth = 1625.270535; finalDepth = 1620.902813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9518419999999 # Actual altitude: 50.9518419999999 # Commanded vehicle depth: 1620.902813 # Seafloor depth: -1671.123339 # 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 16 # Segment length 102.712361 meters # Minimum depth: 1675.270535 meters looking forward 100.000000 meters along route # Maximum depth: 1677.754803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.270535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059511; longitude = -130.017927; duration = 410; initialDepth = 1624.759138; finalDepth = 1625.270535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2205260000001 # Actual altitude: 50.2205260000001 # Commanded vehicle depth: 1625.270535 # Seafloor depth: -1675.270535 # 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 16 # Segment length 102.712010 meters # Minimum depth: 1674.759138 meters looking forward 100.000000 meters along route # Maximum depth: 1685.229308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.759138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060319; longitude = -130.017283; duration = 410; initialDepth = 1625.114065; finalDepth = 1624.759138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8986480000001 # Actual altitude: 53.8986480000001 # Commanded vehicle depth: 1624.759138 # Seafloor depth: -1678.657786 # 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 102.711659 meters # Minimum depth: 1675.114065 meters looking forward 100.000000 meters along route # Maximum depth: 1680.234430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.114065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061128; longitude = -130.016640; duration = 410; initialDepth = 1630.241197; finalDepth = 1625.114065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8986480000001 # Actual altitude: 53.8986480000001 # Commanded vehicle depth: 1625.114065 # Seafloor depth: -1675.159437 # 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 102.711308 meters # Minimum depth: 1680.241197 meters looking forward 100.000000 meters along route # Maximum depth: 1684.693266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.241197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061937; longitude = -130.015996; duration = 410; initialDepth = 1634.177281; finalDepth = 1630.241197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.045372 # Actual altitude: 50.045372 # Commanded vehicle depth: 1630.241197 # Seafloor depth: -1680.241197 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.710957 meters # Minimum depth: 1684.177281 meters looking forward 100.000000 meters along route # Maximum depth: 1690.870174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.177281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062745; longitude = -130.015353; duration = 410; initialDepth = 1641.643223; finalDepth = 1634.177281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1634.177281 # Seafloor depth: -1684.177281 # 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 102.710606 meters # Minimum depth: 1691.643223 meters looking forward 100.000000 meters along route # Maximum depth: 1709.972174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.643223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063554; longitude = -130.014710; duration = 410; initialDepth = 1655.094196; finalDepth = 1641.643223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1641.643223 # Seafloor depth: -1691.643223 # 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 102.710255 meters # Minimum depth: 1705.094196 meters looking forward 100.000000 meters along route # Maximum depth: 1711.789534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.094196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064362; longitude = -130.014066; duration = 410; initialDepth = 1645.305731; finalDepth = 1655.094196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.695338 # Actual altitude: 56.695338 # Commanded vehicle depth: 1655.094196 # Seafloor depth: -1711.789534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.709904 meters # Minimum depth: 1695.305731 meters looking forward 100.000000 meters along route # Maximum depth: 1702.003180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.305731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065171; longitude = -130.013423; duration = 410; initialDepth = 1642.317010; finalDepth = 1645.305731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.697449 # Actual altitude: 56.697449 # Commanded vehicle depth: 1645.305731 # Seafloor depth: -1702.003180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.709553 meters # Minimum depth: 1692.317010 meters looking forward 100.000000 meters along route # Maximum depth: 1697.587602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.317010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065979; longitude = -130.012779; duration = 410; initialDepth = 1642.680067; finalDepth = 1642.317010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.697449 # Actual altitude: 56.697449 # Commanded vehicle depth: 1642.31701 # Seafloor depth: -1697.587602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.709202 meters # Minimum depth: 1692.680067 meters looking forward 100.000000 meters along route # Maximum depth: 1694.920446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.680067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066788; longitude = -130.012136; duration = 410; initialDepth = 1642.126323; finalDepth = 1642.680067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2705920000001 # Actual altitude: 55.2705920000001 # Commanded vehicle depth: 1642.680067 # Seafloor depth: -1692.680067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.708851 meters # Minimum depth: 1692.126323 meters looking forward 100.000000 meters along route # Maximum depth: 1694.452826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.126323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067597; longitude = -130.011492; duration = 410; initialDepth = 1641.893197; finalDepth = 1642.126323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.326503 # Actual altitude: 52.326503 # Commanded vehicle depth: 1642.126323 # Seafloor depth: -1694.452826 # 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 16 # Segment length 102.708500 meters # Minimum depth: 1691.893197 meters looking forward 100.000000 meters along route # Maximum depth: 1699.264173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.893197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068405; longitude = -130.010849; duration = 410; initialDepth = 1649.567292; finalDepth = 1641.893197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.326503 # Actual altitude: 52.326503 # Commanded vehicle depth: 1641.893197 # Seafloor depth: -1692.257193 # 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 16 # Segment length 102.708149 meters # Minimum depth: 1699.567292 meters looking forward 100.000000 meters along route # Maximum depth: 1706.613615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.567292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069214; longitude = -130.010206; duration = 410; initialDepth = 1652.562826; finalDepth = 1649.567292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3639959999998 # Actual altitude: 50.3639959999998 # Commanded vehicle depth: 1649.567292 # Seafloor depth: -1699.567292 # 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 16 # Segment length 102.707798 meters # Minimum depth: 1702.562826 meters looking forward 100.000000 meters along route # Maximum depth: 1705.041802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.562826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070022; longitude = -130.009562; duration = 410; initialDepth = 1651.519735; finalDepth = 1652.562826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4789759999999 # Actual altitude: 52.4789759999999 # Commanded vehicle depth: 1652.562826 # Seafloor depth: -1705.041802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.707448 meters # Minimum depth: 1701.519735 meters looking forward 100.000000 meters along route # Maximum depth: 1705.481285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.519735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070831; longitude = -130.008919; duration = 410; initialDepth = 1656.253173; finalDepth = 1651.519735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.96155 # Actual altitude: 53.96155 # Commanded vehicle depth: 1651.519735 # Seafloor depth: -1705.481285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.707096 meters # Minimum depth: 1706.253173 meters looking forward 100.000000 meters along route # Maximum depth: 1722.350152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.253173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071640; longitude = -130.008275; duration = 410; initialDepth = 1675.542202; finalDepth = 1656.253173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.96155 # Actual altitude: 53.96155 # Commanded vehicle depth: 1656.253173 # Seafloor depth: -1706.464577 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.706745 meters # Minimum depth: 1725.542202 meters looking forward 100.000000 meters along route # Maximum depth: 1732.070174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.542202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072448; longitude = -130.007632; duration = 410; initialDepth = 1674.612333; finalDepth = 1675.542202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2114039999999 # Actual altitude: 50.2114039999999 # Commanded vehicle depth: 1675.542202 # Seafloor depth: -1725.542202 # 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 16 # Segment length 102.706395 meters # Minimum depth: 1724.612333 meters looking forward 100.000000 meters along route # Maximum depth: 1728.672892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.612333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073257; longitude = -130.006988; duration = 410; initialDepth = 1678.080561; finalDepth = 1674.612333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.814977 # Actual altitude: 50.814977 # Commanded vehicle depth: 1674.612333 # Seafloor depth: -1725.427310 # 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 16 # Segment length 102.706043 meters # Minimum depth: 1728.080561 meters looking forward 100.000000 meters along route # Maximum depth: 1729.828600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.080561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074065; longitude = -130.006345; duration = 410; initialDepth = 1678.257041; finalDepth = 1678.080561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4585509999999 # Actual altitude: 51.4585509999999 # Commanded vehicle depth: 1678.080561 # Seafloor depth: -1729.539112 # 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 16 # Segment length 102.705693 meters # Minimum depth: 1728.257041 meters looking forward 100.000000 meters along route # Maximum depth: 1744.154264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.257041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074874; longitude = -130.005701; duration = 410; initialDepth = 1689.555063; finalDepth = 1678.257041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4585509999999 # Actual altitude: 51.4585509999999 # Commanded vehicle depth: 1678.257041 # Seafloor depth: -1729.233083 # 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 16 # Segment length 102.705341 meters # Minimum depth: 1739.555063 meters looking forward 100.000000 meters along route # Maximum depth: 1749.366179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.555063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075682; longitude = -130.005058; duration = 410; initialDepth = 1684.046653; finalDepth = 1689.555063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.753913 # Actual altitude: 54.753913 # Commanded vehicle depth: 1689.555063 # Seafloor depth: -1744.308976 # 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 16 # Segment length 102.704991 meters # Minimum depth: 1734.046653 meters looking forward 100.000000 meters along route # Maximum depth: 1747.267210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.046653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076491; longitude = -130.004415; duration = 410; initialDepth = 1696.195649; finalDepth = 1684.046653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.753913 # Actual altitude: 54.753913 # Commanded vehicle depth: 1684.046653 # Seafloor depth: -1737.163298 # 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 16 # Segment length 102.704640 meters # Minimum depth: 1746.195649 meters looking forward 100.000000 meters along route # Maximum depth: 1747.036195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.195649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077300; longitude = -130.003771; duration = 410; initialDepth = 1695.964882; finalDepth = 1696.195649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1166449999998 # Actual altitude: 53.1166449999998 # Commanded vehicle depth: 1696.195649 # Seafloor depth: -1746.195649 # 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 16 # Segment length 102.704289 meters # Minimum depth: 1745.964882 meters looking forward 100.000000 meters along route # Maximum depth: 1747.494755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.964882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078108; longitude = -130.003128; duration = 410; initialDepth = 1696.989376; finalDepth = 1695.964882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3298669999999 # Actual altitude: 51.3298669999999 # Commanded vehicle depth: 1695.964882 # Seafloor depth: -1747.294749 # 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 16 # Segment length 102.703938 meters # Minimum depth: 1746.989376 meters looking forward 100.000000 meters along route # Maximum depth: 1749.474657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.989376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078917; longitude = -130.002484; duration = 410; initialDepth = 1698.793886; finalDepth = 1696.989376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3298669999999 # Actual altitude: 51.3298669999999 # Commanded vehicle depth: 1696.989376 # Seafloor depth: -1746.989376 # 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 16 # Segment length 102.703587 meters # Minimum depth: 1748.793886 meters looking forward 100.000000 meters along route # Maximum depth: 1751.163735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.793886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079725; longitude = -130.001841; duration = 410; initialDepth = 1697.833176; finalDepth = 1698.793886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1698.793886 # Seafloor depth: -1748.793886 # 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 102.703236 meters # Minimum depth: 1747.833176 meters looking forward 100.000000 meters along route # Maximum depth: 1749.467124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.833176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080534; longitude = -130.001197; duration = 410; initialDepth = 1698.373710; finalDepth = 1697.833176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.819769 # Actual altitude: 50.819769 # Commanded vehicle depth: 1697.833176 # Seafloor depth: -1748.652945 # 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 16 # Segment length 102.702886 meters # Minimum depth: 1748.373710 meters looking forward 100.000000 meters along route # Maximum depth: 1750.274759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.373710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081343; longitude = -130.000554; duration = 410; initialDepth = 1698.743502; finalDepth = 1698.373710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.819769 # Actual altitude: 50.819769 # Commanded vehicle depth: 1698.37371 # Seafloor depth: -1748.727647 # 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 16 # Segment length 102.702534 meters # Minimum depth: 1748.743502 meters looking forward 100.000000 meters along route # Maximum depth: 1753.769071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.743502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082151; longitude = -129.999910; duration = 410; initialDepth = 1705.734491; finalDepth = 1698.743502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3539369999999 # Actual altitude: 50.3539369999999 # Commanded vehicle depth: 1698.743502 # Seafloor depth: -1748.743502 # 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 16 # Segment length 102.702184 meters # Minimum depth: 1755.734491 meters looking forward 100.000000 meters along route # Maximum depth: 1766.384573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.734491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082960; longitude = -129.999267; duration = 410; initialDepth = 1716.793074; finalDepth = 1705.734491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1705.734491 # Seafloor depth: -1755.734491 # 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 102.701833 meters # Minimum depth: 1766.793074 meters looking forward 100.000000 meters along route # Maximum depth: 1775.481487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.793074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083768; longitude = -129.998624; duration = 410; initialDepth = 1719.989725; finalDepth = 1716.793074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.793074 # Seafloor depth: -1766.793074 # 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 102.701482 meters # Minimum depth: 1769.989725 meters looking forward 100.000000 meters along route # Maximum depth: 1780.143239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.989725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084577; longitude = -129.997980; duration = 410; initialDepth = 1730.617224; finalDepth = 1719.989725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4161290000002 # Actual altitude: 54.4161290000002 # Commanded vehicle depth: 1719.989725 # Seafloor depth: -1774.405854 # 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 16 # Segment length 102.701131 meters # Minimum depth: 1780.617224 meters looking forward 100.000000 meters along route # Maximum depth: 1781.787130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.617224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085385; longitude = -129.997337; duration = 410; initialDepth = 1725.281208; finalDepth = 1730.617224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4161290000002 # Actual altitude: 54.4161290000002 # Commanded vehicle depth: 1730.617224 # Seafloor depth: -1781.357481 # 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 16 # Segment length 102.700780 meters # Minimum depth: 1775.281208 meters looking forward 100.000000 meters along route # Maximum depth: 1781.630627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.281208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086194; longitude = -129.996693; duration = 410; initialDepth = 1714.672725; finalDepth = 1725.281208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3494189999999 # Actual altitude: 56.3494189999999 # Commanded vehicle depth: 1725.281208 # Seafloor depth: -1781.630627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.700430 meters # Minimum depth: 1764.672725 meters looking forward 100.000000 meters along route # Maximum depth: 1777.102839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.672725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087003; longitude = -129.996050; duration = 410; initialDepth = 1693.983025; finalDepth = 1714.672725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.430114 # Actual altitude: 62.430114 # Commanded vehicle depth: 1714.672725 # Seafloor depth: -1777.102839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.700079 meters # Minimum depth: 1743.983025 meters looking forward 100.000000 meters along route # Maximum depth: 1759.798056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.983025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087811; longitude = -129.995406; duration = 410; initialDepth = 1692.064588; finalDepth = 1693.983025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8150310000001 # Actual altitude: 65.8150310000001 # Commanded vehicle depth: 1693.983025 # Seafloor depth: -1759.798056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.699727 meters # Minimum depth: 1742.064588 meters looking forward 100.000000 meters along route # Maximum depth: 1744.942222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.064588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088620; longitude = -129.994763; duration = 410; initialDepth = 1697.050131; finalDepth = 1692.064588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8150310000001 # Actual altitude: 65.8150310000001 # Commanded vehicle depth: 1692.064588 # Seafloor depth: -1743.817522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 102.699377 meters # Minimum depth: 1747.050131 meters looking forward 100.000000 meters along route # Maximum depth: 1756.588561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.050131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089428; longitude = -129.994119; duration = 410; initialDepth = 1706.198439; finalDepth = 1697.050131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7529340000001 # Actual altitude: 51.7529340000001 # Commanded vehicle depth: 1697.050131 # Seafloor depth: -1747.199126 # 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 16 # Segment length 102.699027 meters # Minimum depth: 1756.198439 meters looking forward 100.000000 meters along route # Maximum depth: 1767.863037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.198439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090237; longitude = -129.993476; duration = 410; initialDepth = 1713.847514; finalDepth = 1706.198439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.148995 # Actual altitude: 50.148995 # Commanded vehicle depth: 1706.198439 # Seafloor depth: -1756.198439 # 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 16 # Segment length 102.698675 meters # Minimum depth: 1763.847514 meters looking forward 100.000000 meters along route # Maximum depth: 1766.505151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.847514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091046; longitude = -129.992833; duration = 410; initialDepth = 1694.062363; finalDepth = 1713.847514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3197499999999 # Actual altitude: 52.3197499999999 # Commanded vehicle depth: 1713.847514 # Seafloor depth: -1766.167264 # 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 16 # Segment length 106.164317 meters # Minimum depth: 1744.062363 meters looking forward 100.000000 meters along route # Maximum depth: 1762.348661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.062363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091854; longitude = -129.992189; duration = 424; initialDepth = 1694.454132; finalDepth = 1694.062363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.286298 # Actual altitude: 68.286298 # Commanded vehicle depth: 1694.062363 # Seafloor depth: -1762.348661 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 147.812768 meters # Minimum depth: 1744.454132 meters looking forward 100.000000 meters along route # Maximum depth: 1767.086114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.454132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092690; longitude = -129.991524; duration = 591; # abortOnTimeout = True; initialDepth = 1717.231323; finalDepth = 1694.454132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.286298 # Actual altitude: 68.286298 # Commanded vehicle depth: 1694.454132 # Seafloor depth: -1744.454132 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 106.040062 meters # Minimum depth: 1767.231323 meters looking forward 100.000000 meters along route # Maximum depth: 1781.653178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.231323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093334; longitude = -129.993197; duration = 424; # abortOnTimeout = True; initialDepth = 1731.933592; finalDepth = 1717.231323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1717.231323 # Seafloor depth: -1767.231323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.586566 meters # Minimum depth: 1781.933592 meters looking forward 100.000000 meters along route # Maximum depth: 1794.694639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.933592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092499; longitude = -129.993862; duration = 410; initialDepth = 1741.402573; finalDepth = 1731.933592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1731.933592 # Seafloor depth: -1781.933592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.586916 meters # Minimum depth: 1791.402573 meters looking forward 100.000000 meters along route # Maximum depth: 1794.342906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.402573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091692; longitude = -129.994506; duration = 410; initialDepth = 1729.704459; finalDepth = 1741.402573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.940333 # Actual altitude: 52.940333 # Commanded vehicle depth: 1741.402573 # Seafloor depth: -1794.342906 # 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 14 # Segment length 102.587267 meters # Minimum depth: 1779.704459 meters looking forward 100.000000 meters along route # Maximum depth: 1791.177015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.704459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090885; longitude = -129.995149; duration = 410; initialDepth = 1723.743631; finalDepth = 1729.704459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4725559999999 # Actual altitude: 61.4725559999999 # Commanded vehicle depth: 1729.704459 # Seafloor depth: -1791.177015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.587617 meters # Minimum depth: 1773.743631 meters looking forward 100.000000 meters along route # Maximum depth: 1782.201913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.743631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090077; longitude = -129.995792; duration = 410; initialDepth = 1723.458055; finalDepth = 1723.743631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4725559999999 # Actual altitude: 61.4725559999999 # Commanded vehicle depth: 1723.743631 # Seafloor depth: -1780.979015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.587969 meters # Minimum depth: 1773.458055 meters looking forward 100.000000 meters along route # Maximum depth: 1788.177465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.458055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089270; longitude = -129.996436; duration = 410; initialDepth = 1743.750359; finalDepth = 1723.458055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2353839999998 # Actual altitude: 57.2353839999998 # Commanded vehicle depth: 1723.458055 # Seafloor depth: -1773.458055 # 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 14 # Segment length 102.588319 meters # Minimum depth: 1793.750359 meters looking forward 100.000000 meters along route # Maximum depth: 1798.346838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.750359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088462; longitude = -129.997079; duration = 410; initialDepth = 1738.411385; finalDepth = 1743.750359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7477640000002 # Actual altitude: 50.7477640000002 # Commanded vehicle depth: 1743.750359 # Seafloor depth: -1794.498123 # 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 14 # Segment length 102.588670 meters # Minimum depth: 1788.411385 meters looking forward 100.000000 meters along route # Maximum depth: 1792.796066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.411385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087655; longitude = -129.997723; duration = 410; initialDepth = 1744.283808; finalDepth = 1738.411385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8273959999999 # Actual altitude: 53.8273959999999 # Commanded vehicle depth: 1738.411385 # Seafloor depth: -1792.238781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.589021 meters # Minimum depth: 1794.283808 meters looking forward 100.000000 meters along route # Maximum depth: 1799.340630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.283808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086847; longitude = -129.998366; duration = 410; initialDepth = 1732.586649; finalDepth = 1744.283808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8273959999999 # Actual altitude: 53.8273959999999 # Commanded vehicle depth: 1744.283808 # Seafloor depth: -1794.815951 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.589371 meters # Minimum depth: 1782.586649 meters looking forward 100.000000 meters along route # Maximum depth: 1794.863345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.586649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086040; longitude = -129.999010; duration = 410; initialDepth = 1737.674250; finalDepth = 1732.586649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2766959999999 # Actual altitude: 62.2766959999999 # Commanded vehicle depth: 1732.586649 # Seafloor depth: -1794.863345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.589722 meters # Minimum depth: 1787.674250 meters looking forward 100.000000 meters along route # Maximum depth: 1789.611858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.674250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085232; longitude = -129.999653; duration = 410; initialDepth = 1732.438062; finalDepth = 1737.674250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.2766959999999 # Actual altitude: 62.2766959999999 # Commanded vehicle depth: 1737.67425 # Seafloor depth: -1788.171122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.590073 meters # Minimum depth: 1782.438062 meters looking forward 100.000000 meters along route # Maximum depth: 1792.712117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.438062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084425; longitude = -130.000297; duration = 410; initialDepth = 1717.856420; finalDepth = 1732.438062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.033383 # Actual altitude: 57.033383 # Commanded vehicle depth: 1732.438062 # Seafloor depth: -1789.471445 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.590424 meters # Minimum depth: 1767.856420 meters looking forward 100.000000 meters along route # Maximum depth: 1781.334601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.856420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083618; longitude = -130.000940; duration = 410; initialDepth = 1708.355267; finalDepth = 1717.856420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4781809999999 # Actual altitude: 63.4781809999999 # Commanded vehicle depth: 1717.85642 # Seafloor depth: -1781.334601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.590774 meters # Minimum depth: 1758.355267 meters looking forward 100.000000 meters along route # Maximum depth: 1767.114750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.355267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082810; longitude = -130.001583; duration = 410; initialDepth = 1702.638105; finalDepth = 1708.355267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4781809999999 # Actual altitude: 63.4781809999999 # Commanded vehicle depth: 1708.355267 # Seafloor depth: -1767.114750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.591126 meters # Minimum depth: 1752.638105 meters looking forward 100.000000 meters along route # Maximum depth: 1757.865166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.638105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082003; longitude = -130.002227; duration = 410; initialDepth = 1702.283923; finalDepth = 1702.638105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.759483 # Actual altitude: 58.759483 # Commanded vehicle depth: 1702.638105 # Seafloor depth: -1757.865166 # 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 14 # Segment length 102.591476 meters # Minimum depth: 1752.283923 meters looking forward 100.000000 meters along route # Maximum depth: 1752.972941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.283923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081195; longitude = -130.002870; duration = 410; initialDepth = 1702.829486; finalDepth = 1702.283923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.227061 # Actual altitude: 55.227061 # Commanded vehicle depth: 1702.283923 # Seafloor depth: -1752.283923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.591827 meters # Minimum depth: 1752.829486 meters looking forward 100.000000 meters along route # Maximum depth: 1759.104600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.829486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080388; longitude = -130.003514; duration = 410; initialDepth = 1703.981356; finalDepth = 1702.829486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.829486 # Seafloor depth: -1752.829486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.592177 meters # Minimum depth: 1753.981356 meters looking forward 100.000000 meters along route # Maximum depth: 1760.115103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.981356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079580; longitude = -130.004157; duration = 410; initialDepth = 1703.431745; finalDepth = 1703.981356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1337470000001 # Actual altitude: 56.1337470000001 # Commanded vehicle depth: 1703.981356 # Seafloor depth: -1760.115103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.592529 meters # Minimum depth: 1753.431745 meters looking forward 100.000000 meters along route # Maximum depth: 1758.494148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.431745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078773; longitude = -130.004801; duration = 410; initialDepth = 1701.993920; finalDepth = 1703.431745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1337470000001 # Actual altitude: 56.1337470000001 # Commanded vehicle depth: 1703.431745 # Seafloor depth: -1753.431745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.592879 meters # Minimum depth: 1751.993920 meters looking forward 100.000000 meters along route # Maximum depth: 1757.660829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.993920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077966; longitude = -130.005444; duration = 410; initialDepth = 1692.258040; finalDepth = 1701.993920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.666909 # Actual altitude: 55.666909 # Commanded vehicle depth: 1701.99392 # Seafloor depth: -1757.660829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.593231 meters # Minimum depth: 1742.258040 meters looking forward 100.000000 meters along route # Maximum depth: 1750.603582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.258040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077158; longitude = -130.006087; duration = 410; initialDepth = 1681.070767; finalDepth = 1692.258040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.345542 # Actual altitude: 58.345542 # Commanded vehicle depth: 1692.25804 # Seafloor depth: -1750.603582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.593581 meters # Minimum depth: 1731.070767 meters looking forward 100.000000 meters along route # Maximum depth: 1742.071890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.070767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076351; longitude = -130.006731; duration = 410; initialDepth = 1680.412825; finalDepth = 1681.070767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.001123 # Actual altitude: 61.001123 # Commanded vehicle depth: 1681.070767 # Seafloor depth: -1742.071890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.593932 meters # Minimum depth: 1730.412825 meters looking forward 100.000000 meters along route # Maximum depth: 1732.443412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.412825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075543; longitude = -130.007374; duration = 410; initialDepth = 1679.396452; finalDepth = 1680.412825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.001123 # Actual altitude: 61.001123 # Commanded vehicle depth: 1680.412825 # Seafloor depth: -1732.013047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.594282 meters # Minimum depth: 1729.396452 meters looking forward 100.000000 meters along route # Maximum depth: 1736.503210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.396452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074736; longitude = -130.008018; duration = 410; initialDepth = 1683.385353; finalDepth = 1679.396452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6002219999998 # Actual altitude: 51.6002219999998 # Commanded vehicle depth: 1679.396452 # Seafloor depth: -1730.356775 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.594634 meters # Minimum depth: 1733.385353 meters looking forward 100.000000 meters along route # Maximum depth: 1737.859482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.385353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073928; longitude = -130.008661; duration = 410; initialDepth = 1683.966662; finalDepth = 1683.385353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.234271 # Actual altitude: 54.234271 # Commanded vehicle depth: 1683.385353 # Seafloor depth: -1737.619624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.594984 meters # Minimum depth: 1733.966662 meters looking forward 100.000000 meters along route # Maximum depth: 1745.067827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.966662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073121; longitude = -130.009305; duration = 410; initialDepth = 1681.309238; finalDepth = 1683.966662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.234271 # Actual altitude: 54.234271 # Commanded vehicle depth: 1683.966662 # Seafloor depth: -1733.966662 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.595336 meters # Minimum depth: 1731.309238 meters looking forward 100.000000 meters along route # Maximum depth: 1741.834906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.309238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072314; longitude = -130.009948; duration = 410; initialDepth = 1680.732362; finalDepth = 1681.309238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.525668 # Actual altitude: 60.525668 # Commanded vehicle depth: 1681.309238 # Seafloor depth: -1741.834906 # 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 14 # Segment length 102.595686 meters # Minimum depth: 1730.732362 meters looking forward 100.000000 meters along route # Maximum depth: 1733.630540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.732362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071506; longitude = -130.010592; duration = 410; initialDepth = 1665.351624; finalDepth = 1680.732362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.525668 # Actual altitude: 60.525668 # Commanded vehicle depth: 1680.732362 # Seafloor depth: -1731.467976 # 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 14 # Segment length 102.596037 meters # Minimum depth: 1715.351624 meters looking forward 100.000000 meters along route # Maximum depth: 1732.031744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.351624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070699; longitude = -130.011235; duration = 410; initialDepth = 1652.674731; finalDepth = 1665.351624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8139180000001 # Actual altitude: 64.8139180000001 # Commanded vehicle depth: 1665.351624 # Seafloor depth: -1730.165542 # 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 14 # Segment length 102.596388 meters # Minimum depth: 1702.674731 meters looking forward 100.000000 meters along route # Maximum depth: 1714.421461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.674731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069891; longitude = -130.011878; duration = 410; initialDepth = 1647.298033; finalDepth = 1652.674731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8139180000001 # Actual altitude: 64.8139180000001 # Commanded vehicle depth: 1652.674731 # Seafloor depth: -1714.421461 # 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 14 # Segment length 102.596739 meters # Minimum depth: 1697.298033 meters looking forward 100.000000 meters along route # Maximum depth: 1702.489550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.298033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069084; longitude = -130.012522; duration = 410; initialDepth = 1652.914906; finalDepth = 1647.298033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.7467299999998 # Actual altitude: 61.7467299999998 # Commanded vehicle depth: 1647.298033 # Seafloor depth: -1702.489550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.597090 meters # Minimum depth: 1702.914906 meters looking forward 100.000000 meters along route # Maximum depth: 1717.966688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.914906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068276; longitude = -130.013165; duration = 410; initialDepth = 1668.625932; finalDepth = 1652.914906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.191517 # Actual altitude: 55.191517 # Commanded vehicle depth: 1652.914906 # Seafloor depth: -1702.914906 # 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 14 # Segment length 102.597440 meters # Minimum depth: 1718.625932 meters looking forward 100.000000 meters along route # Maximum depth: 1723.415586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.625932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067469; longitude = -130.013809; duration = 410; initialDepth = 1667.912512; finalDepth = 1668.625932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8116280000002 # Actual altitude: 51.8116280000002 # Commanded vehicle depth: 1668.625932 # Seafloor depth: -1720.437560 # 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 102.597792 meters # Minimum depth: 1717.912512 meters looking forward 100.000000 meters along route # Maximum depth: 1730.874042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.912512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066662; longitude = -130.014452; duration = 410; initialDepth = 1670.818007; finalDepth = 1667.912512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7986119999998 # Actual altitude: 54.7986119999998 # Commanded vehicle depth: 1667.912512 # Seafloor depth: -1722.711124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.598142 meters # Minimum depth: 1720.818007 meters looking forward 100.000000 meters along route # Maximum depth: 1727.769319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.818007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065854; longitude = -130.015096; duration = 410; initialDepth = 1660.762401; finalDepth = 1670.818007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7986119999998 # Actual altitude: 54.7986119999998 # Commanded vehicle depth: 1670.818007 # Seafloor depth: -1720.818007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 109.366871 meters # Minimum depth: 1710.762401 meters looking forward 100.000000 meters along route # Maximum depth: 1722.651708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.762401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065047; longitude = -130.015739; duration = 437; initialDepth = 1660.333801; finalDepth = 1660.762401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.8893070000001 # Actual altitude: 61.8893070000001 # Commanded vehicle depth: 1660.762401 # Seafloor depth: -1722.651708 # 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 13 # Segment length 151.911840 meters # Minimum depth: 1710.333801 meters looking forward 100.000000 meters along route # Maximum depth: 1725.208903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.333801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064186; longitude = -130.016425; duration = 607; # abortOnTimeout = True; initialDepth = 1673.725297; finalDepth = 1660.333801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.8893070000001 # Actual altitude: 61.8893070000001 # Commanded vehicle depth: 1660.333801 # Seafloor depth: -1710.333801 # 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 116.000274 meters # Minimum depth: 1723.725297 meters looking forward 100.000000 meters along route # Maximum depth: 1726.457453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.725297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064851; longitude = -130.018141; duration = 464; # abortOnTimeout = True; initialDepth = 1673.728660; finalDepth = 1673.725297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.760207 # Actual altitude: 50.760207 # Commanded vehicle depth: 1673.725297 # Seafloor depth: -1724.485504 # 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 12 # Segment length 102.393849 meters # Minimum depth: 1723.728660 meters looking forward 100.000000 meters along route # Maximum depth: 1736.831497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.728660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065763; longitude = -130.017412; duration = 409; initialDepth = 1690.007520; finalDepth = 1673.728660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.760207 # Actual altitude: 50.760207 # Commanded vehicle depth: 1673.72866 # Seafloor depth: -1723.728660 # 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 12 # Segment length 102.393498 meters # Minimum depth: 1740.007520 meters looking forward 100.000000 meters along route # Maximum depth: 1748.368219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.007520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066569; longitude = -130.016769; duration = 409; initialDepth = 1684.681312; finalDepth = 1690.007520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1690.00752 # Seafloor depth: -1740.007520 # 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 102.393147 meters # Minimum depth: 1734.681312 meters looking forward 100.000000 meters along route # Maximum depth: 1743.670587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.681312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067374; longitude = -130.016125; duration = 409; initialDepth = 1645.339719; finalDepth = 1684.681312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8053460000001 # Actual altitude: 58.8053460000001 # Commanded vehicle depth: 1684.681312 # Seafloor depth: -1743.486658 # 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 12 # Segment length 102.392797 meters # Minimum depth: 1695.339719 meters looking forward 100.000000 meters along route # Maximum depth: 1732.813123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.339719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068179; longitude = -130.015482; duration = 409; initialDepth = 1656.281783; finalDepth = 1645.339719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.4734039999998 # Actual altitude: 87.4734039999998 # Commanded vehicle depth: 1645.339719 # Seafloor depth: -1732.813123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.392446 meters # Minimum depth: 1706.281783 meters looking forward 100.000000 meters along route # Maximum depth: 1732.612475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.281783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068985; longitude = -130.014838; duration = 409; initialDepth = 1670.948213; finalDepth = 1656.281783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.4734039999998 # Actual altitude: 87.4734039999998 # Commanded vehicle depth: 1656.281783 # Seafloor depth: -1706.281783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.392095 meters # Minimum depth: 1720.948213 meters looking forward 100.000000 meters along route # Maximum depth: 1736.236639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.948213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069790; longitude = -130.014195; duration = 409; initialDepth = 1666.435921; finalDepth = 1670.948213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.881979 # Actual altitude: 62.881979 # Commanded vehicle depth: 1670.948213 # Seafloor depth: -1733.830192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.391744 meters # Minimum depth: 1716.435921 meters looking forward 100.000000 meters along route # Maximum depth: 1728.369338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.435921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070595; longitude = -130.013551; duration = 409; initialDepth = 1676.182903; finalDepth = 1666.435921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.881979 # Actual altitude: 62.881979 # Commanded vehicle depth: 1666.435921 # Seafloor depth: -1716.435921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.391394 meters # Minimum depth: 1726.182903 meters looking forward 100.000000 meters along route # Maximum depth: 1733.575747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.182903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071401; longitude = -130.012908; duration = 409; initialDepth = 1684.547208; finalDepth = 1676.182903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1676.182903 # Seafloor depth: -1726.182903 # 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 102.391042 meters # Minimum depth: 1734.547208 meters looking forward 100.000000 meters along route # Maximum depth: 1750.871475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.547208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072206; longitude = -130.012265; duration = 409; initialDepth = 1685.097456; finalDepth = 1684.547208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1684.547208 # Seafloor depth: -1734.547208 # 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 102.390693 meters # Minimum depth: 1735.097456 meters looking forward 100.000000 meters along route # Maximum depth: 1745.046989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.097456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073011; longitude = -130.011621; duration = 409; initialDepth = 1685.543012; finalDepth = 1685.097456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.949533 # Actual altitude: 59.949533 # Commanded vehicle depth: 1685.097456 # Seafloor depth: -1745.046989 # 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 12 # Segment length 102.390341 meters # Minimum depth: 1735.543012 meters looking forward 100.000000 meters along route # Maximum depth: 1746.960352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.543012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073817; longitude = -130.010978; duration = 409; initialDepth = 1687.690326; finalDepth = 1685.543012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.949533 # Actual altitude: 59.949533 # Commanded vehicle depth: 1685.543012 # Seafloor depth: -1735.543012 # 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 12 # Segment length 102.389991 meters # Minimum depth: 1737.690326 meters looking forward 100.000000 meters along route # Maximum depth: 1746.428370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.690326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074622; longitude = -130.010334; duration = 409; initialDepth = 1687.705719; finalDepth = 1687.690326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7380440000002 # Actual altitude: 58.7380440000002 # Commanded vehicle depth: 1687.690326 # Seafloor depth: -1746.428370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.389640 meters # Minimum depth: 1737.705719 meters looking forward 100.000000 meters along route # Maximum depth: 1743.804791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.705719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075427; longitude = -130.009691; duration = 409; initialDepth = 1693.467934; finalDepth = 1687.705719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7380440000002 # Actual altitude: 58.7380440000002 # Commanded vehicle depth: 1687.705719 # Seafloor depth: -1737.705719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.389289 meters # Minimum depth: 1743.467934 meters looking forward 100.000000 meters along route # Maximum depth: 1746.827641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.467934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076233; longitude = -130.009047; duration = 409; initialDepth = 1697.361289; finalDepth = 1693.467934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1693.467934 # Seafloor depth: -1743.467934 # 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 102.388939 meters # Minimum depth: 1747.361289 meters looking forward 100.000000 meters along route # Maximum depth: 1758.741875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.361289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077038; longitude = -130.008404; duration = 409; initialDepth = 1703.856902; finalDepth = 1697.361289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1697.361289 # Seafloor depth: -1747.361289 # 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 102.388588 meters # Minimum depth: 1753.856902 meters looking forward 100.000000 meters along route # Maximum depth: 1760.505853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.856902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077843; longitude = -130.007760; duration = 409; initialDepth = 1705.792532; finalDepth = 1703.856902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6489509999999 # Actual altitude: 56.6489509999999 # Commanded vehicle depth: 1703.856902 # Seafloor depth: -1760.505853 # 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 12 # Segment length 102.388237 meters # Minimum depth: 1755.792532 meters looking forward 100.000000 meters along route # Maximum depth: 1764.969962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.792532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078649; longitude = -130.007117; duration = 409; initialDepth = 1709.299859; finalDepth = 1705.792532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6489509999999 # Actual altitude: 56.6489509999999 # Commanded vehicle depth: 1705.792532 # Seafloor depth: -1755.792532 # 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 12 # Segment length 102.387887 meters # Minimum depth: 1759.299859 meters looking forward 100.000000 meters along route # Maximum depth: 1770.305544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.299859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079454; longitude = -130.006474; duration = 409; initialDepth = 1712.678652; finalDepth = 1709.299859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.299859 # Seafloor depth: -1759.299859 # 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 102.387536 meters # Minimum depth: 1762.678652 meters looking forward 100.000000 meters along route # Maximum depth: 1771.329417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.678652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080259; longitude = -130.005830; duration = 409; initialDepth = 1705.646797; finalDepth = 1712.678652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8666539999999 # Actual altitude: 57.8666539999999 # Commanded vehicle depth: 1712.678652 # Seafloor depth: -1770.545306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.387185 meters # Minimum depth: 1755.646797 meters looking forward 100.000000 meters along route # Maximum depth: 1762.436289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.646797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081065; longitude = -130.005187; duration = 409; initialDepth = 1705.508493; finalDepth = 1705.646797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8666539999999 # Actual altitude: 57.8666539999999 # Commanded vehicle depth: 1705.646797 # Seafloor depth: -1762.053765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.386835 meters # Minimum depth: 1755.508493 meters looking forward 100.000000 meters along route # Maximum depth: 1764.602214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.508493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081870; longitude = -130.004543; duration = 409; initialDepth = 1711.448428; finalDepth = 1705.508493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.406968 # Actual altitude: 56.406968 # Commanded vehicle depth: 1705.508493 # Seafloor depth: -1755.788535 # 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 12 # Segment length 102.386484 meters # Minimum depth: 1761.448428 meters looking forward 100.000000 meters along route # Maximum depth: 1764.249081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.448428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082675; longitude = -130.003900; duration = 409; initialDepth = 1715.362571; finalDepth = 1711.448428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.336129 # Actual altitude: 52.336129 # Commanded vehicle depth: 1711.448428 # Seafloor depth: -1763.784557 # 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 12 # Segment length 102.386133 meters # Minimum depth: 1765.362571 meters looking forward 100.000000 meters along route # Maximum depth: 1780.422048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.362571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083481; longitude = -130.003256; duration = 409; initialDepth = 1728.107182; finalDepth = 1715.362571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.336129 # Actual altitude: 52.336129 # Commanded vehicle depth: 1715.362571 # Seafloor depth: -1765.362571 # 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 12 # Segment length 102.385783 meters # Minimum depth: 1778.107182 meters looking forward 100.000000 meters along route # Maximum depth: 1781.506417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.107182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084286; longitude = -130.002613; duration = 409; initialDepth = 1728.922854; finalDepth = 1728.107182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2950149999999 # Actual altitude: 53.2950149999999 # Commanded vehicle depth: 1728.107182 # Seafloor depth: -1781.402197 # 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 102.385432 meters # Minimum depth: 1778.922854 meters looking forward 100.000000 meters along route # Maximum depth: 1782.367333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.922854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085091; longitude = -130.001969; duration = 409; initialDepth = 1732.131455; finalDepth = 1728.922854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2950149999999 # Actual altitude: 53.2950149999999 # Commanded vehicle depth: 1728.922854 # Seafloor depth: -1778.922854 # 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 102.385082 meters # Minimum depth: 1782.131455 meters looking forward 100.000000 meters along route # Maximum depth: 1787.433311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.131455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085897; longitude = -130.001326; duration = 409; initialDepth = 1732.273517; finalDepth = 1732.131455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.131455 # Seafloor depth: -1782.131455 # 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 102.384731 meters # Minimum depth: 1782.273517 meters looking forward 100.000000 meters along route # Maximum depth: 1792.210111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.273517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086702; longitude = -130.000683; duration = 409; initialDepth = 1728.998144; finalDepth = 1732.273517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.830612 # Actual altitude: 55.830612 # Commanded vehicle depth: 1732.273517 # Seafloor depth: -1788.104129 # 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 12 # Segment length 102.384380 meters # Minimum depth: 1778.998144 meters looking forward 100.000000 meters along route # Maximum depth: 1791.693294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.998144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087507; longitude = -130.000039; duration = 409; initialDepth = 1731.437585; finalDepth = 1728.998144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.830612 # Actual altitude: 55.830612 # Commanded vehicle depth: 1728.998144 # Seafloor depth: -1781.482856 # 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 12 # Segment length 102.384030 meters # Minimum depth: 1781.437585 meters looking forward 100.000000 meters along route # Maximum depth: 1788.680849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.437585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088313; longitude = -129.999396; duration = 409; initialDepth = 1731.938699; finalDepth = 1731.437585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4771540000002 # Actual altitude: 55.4771540000002 # Commanded vehicle depth: 1731.437585 # Seafloor depth: -1786.914739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.383679 meters # Minimum depth: 1781.938699 meters looking forward 100.000000 meters along route # Maximum depth: 1785.303288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.938699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089118; longitude = -129.998752; duration = 409; initialDepth = 1733.502093; finalDepth = 1731.938699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4771540000002 # Actual altitude: 55.4771540000002 # Commanded vehicle depth: 1731.938699 # Seafloor depth: -1782.254157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.383329 meters # Minimum depth: 1783.502093 meters looking forward 100.000000 meters along route # Maximum depth: 1785.192556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.502093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089923; longitude = -129.998109; duration = 409; initialDepth = 1734.163141; finalDepth = 1733.502093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.315458 # Actual altitude: 50.315458 # Commanded vehicle depth: 1733.502093 # Seafloor depth: -1783.502093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.382978 meters # Minimum depth: 1784.163141 meters looking forward 100.000000 meters along route # Maximum depth: 1789.466725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.163141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090729; longitude = -129.997465; duration = 409; initialDepth = 1732.621064; finalDepth = 1734.163141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6425879999999 # Actual altitude: 51.6425879999999 # Commanded vehicle depth: 1734.163141 # Seafloor depth: -1785.805729 # 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 12 # Segment length 102.382627 meters # Minimum depth: 1782.621064 meters looking forward 100.000000 meters along route # Maximum depth: 1788.281923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.621064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091534; longitude = -129.996822; duration = 409; initialDepth = 1738.896941; finalDepth = 1732.621064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6425879999999 # Actual altitude: 51.6425879999999 # Commanded vehicle depth: 1732.621064 # Seafloor depth: -1783.832051 # 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 12 # Segment length 102.382277 meters # Minimum depth: 1788.896941 meters looking forward 100.000000 meters along route # Maximum depth: 1792.739264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.896941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092339; longitude = -129.996178; duration = 409; initialDepth = 1733.549178; finalDepth = 1738.896941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2109870000002 # Actual altitude: 51.2109870000002 # Commanded vehicle depth: 1738.896941 # Seafloor depth: -1788.896941 # 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 12 # Segment length 105.820551 meters # Minimum depth: 1783.549178 meters looking forward 100.000000 meters along route # Maximum depth: 1788.802335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.549178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093145; longitude = -129.995535; duration = 423; initialDepth = 1727.653861; finalDepth = 1733.549178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.2531570000001 # Actual altitude: 55.2531570000001 # Commanded vehicle depth: 1733.549178 # Seafloor depth: -1788.802335 # 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; } # ####################################################### # # 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 144.116572 meters # Minimum depth: 1777.653861 meters looking forward 100.000000 meters along route # Maximum depth: 1784.205719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.653861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093977; longitude = -129.994870; duration = 576; # abortOnTimeout = True; initialDepth = 1725.773711; finalDepth = 1727.653861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.551858 # Actual altitude: 56.551858 # Commanded vehicle depth: 1727.653861 # Seafloor depth: -1784.205719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.93; 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 128.532105 meters # Minimum depth: 1775.773711 meters looking forward 100.000000 meters along route # Maximum depth: 1777.707794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.773711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094578; longitude = -129.996522; duration = 514; # abortOnTimeout = True; initialDepth = 1726.512677; finalDepth = 1725.773711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.551858 # Actual altitude: 56.551858 # Commanded vehicle depth: 1725.773711 # Seafloor depth: -1777.707794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.515175 meters # Minimum depth: 1776.512677 meters looking forward 100.000000 meters along route # Maximum depth: 1779.588214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.512677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093570; longitude = -129.997337; duration = 406; initialDepth = 1729.928441; finalDepth = 1726.512677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9340829999999 # Actual altitude: 51.9340829999999 # Commanded vehicle depth: 1726.512677 # Seafloor depth: -1777.163930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.515524 meters # Minimum depth: 1779.928441 meters looking forward 100.000000 meters along route # Maximum depth: 1784.485621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.928441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092773; longitude = -129.997980; duration = 406; initialDepth = 1730.699872; finalDepth = 1729.928441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.651253 # Actual altitude: 50.651253 # Commanded vehicle depth: 1729.928441 # Seafloor depth: -1779.928441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.515875 meters # Minimum depth: 1780.699872 meters looking forward 100.000000 meters along route # Maximum depth: 1783.136861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.699872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091977; longitude = -129.998624; duration = 406; initialDepth = 1732.136604; finalDepth = 1730.699872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.436989 # Actual altitude: 52.436989 # Commanded vehicle depth: 1730.699872 # Seafloor depth: -1783.136861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516224 meters # Minimum depth: 1782.136604 meters looking forward 100.000000 meters along route # Maximum depth: 1784.152001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.136604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091180; longitude = -129.999267; duration = 406; initialDepth = 1725.332773; finalDepth = 1732.136604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.436989 # Actual altitude: 52.436989 # Commanded vehicle depth: 1732.136604 # Seafloor depth: -1782.659250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516574 meters # Minimum depth: 1775.332773 meters looking forward 100.000000 meters along route # Maximum depth: 1783.983794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.332773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090384; longitude = -129.999910; duration = 406; initialDepth = 1722.454513; finalDepth = 1725.332773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9577029999998 # Actual altitude: 56.9577029999998 # Commanded vehicle depth: 1725.332773 # Seafloor depth: -1782.290476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.516923 meters # Minimum depth: 1772.454513 meters looking forward 100.000000 meters along route # Maximum depth: 1784.823639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.454513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089588; longitude = -130.000554; duration = 406; initialDepth = 1722.617324; finalDepth = 1722.454513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9577029999998 # Actual altitude: 56.9577029999998 # Commanded vehicle depth: 1722.454513 # Seafloor depth: -1772.454513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.517274 meters # Minimum depth: 1772.617324 meters looking forward 100.000000 meters along route # Maximum depth: 1781.446156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.617324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088791; longitude = -130.001197; duration = 406; initialDepth = 1725.388077; finalDepth = 1722.617324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8288319999999 # Actual altitude: 58.8288319999999 # Commanded vehicle depth: 1722.617324 # Seafloor depth: -1781.446156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.517623 meters # Minimum depth: 1775.388077 meters looking forward 100.000000 meters along route # Maximum depth: 1781.387230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.388077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087995; longitude = -130.001841; duration = 406; initialDepth = 1724.450240; finalDepth = 1725.388077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8288319999999 # Actual altitude: 58.8288319999999 # Commanded vehicle depth: 1725.388077 # Seafloor depth: -1779.028412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.517974 meters # Minimum depth: 1774.450240 meters looking forward 100.000000 meters along route # Maximum depth: 1778.292588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.450240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087199; longitude = -130.002484; duration = 406; initialDepth = 1719.533854; finalDepth = 1724.450240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6403349999998 # Actual altitude: 53.6403349999998 # Commanded vehicle depth: 1724.45024 # Seafloor depth: -1778.047786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.518323 meters # Minimum depth: 1769.533854 meters looking forward 100.000000 meters along route # Maximum depth: 1774.650928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.533854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086402; longitude = -130.003128; duration = 406; initialDepth = 1714.063021; finalDepth = 1719.533854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.117074 # Actual altitude: 55.117074 # Commanded vehicle depth: 1719.533854 # Seafloor depth: -1774.650928 # 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 10 # Segment length 101.518673 meters # Minimum depth: 1764.063021 meters looking forward 100.000000 meters along route # Maximum depth: 1769.215871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.063021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085606; longitude = -130.003771; duration = 406; initialDepth = 1708.084825; finalDepth = 1714.063021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1528500000002 # Actual altitude: 55.1528500000002 # Commanded vehicle depth: 1714.063021 # Seafloor depth: -1769.215871 # 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 10 # Segment length 101.519023 meters # Minimum depth: 1758.084825 meters looking forward 100.000000 meters along route # Maximum depth: 1764.089093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.084825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084809; longitude = -130.004415; duration = 406; initialDepth = 1704.983664; finalDepth = 1708.084825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1528500000002 # Actual altitude: 55.1528500000002 # Commanded vehicle depth: 1708.084825 # Seafloor depth: -1760.540800 # 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 10 # Segment length 101.519373 meters # Minimum depth: 1754.983664 meters looking forward 100.000000 meters along route # Maximum depth: 1757.698842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.983664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084013; longitude = -130.005058; duration = 406; initialDepth = 1695.975541; finalDepth = 1704.983664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7151779999999 # Actual altitude: 52.7151779999999 # Commanded vehicle depth: 1704.983664 # Seafloor depth: -1757.698842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.519723 meters # Minimum depth: 1745.975541 meters looking forward 100.000000 meters along route # Maximum depth: 1755.884023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.975541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083217; longitude = -130.005701; duration = 406; initialDepth = 1694.938491; finalDepth = 1695.975541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.908482 # Actual altitude: 59.908482 # Commanded vehicle depth: 1695.975541 # Seafloor depth: -1755.884023 # 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 10 # Segment length 101.520073 meters # Minimum depth: 1744.938491 meters looking forward 100.000000 meters along route # Maximum depth: 1759.351406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.938491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082420; longitude = -130.006345; duration = 406; initialDepth = 1708.533081; finalDepth = 1694.938491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.908482 # Actual altitude: 59.908482 # Commanded vehicle depth: 1694.938491 # Seafloor depth: -1744.938491 # 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 10 # Segment length 101.520423 meters # Minimum depth: 1758.533081 meters looking forward 100.000000 meters along route # Maximum depth: 1762.778115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.533081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081624; longitude = -130.006988; duration = 406; initialDepth = 1697.600485; finalDepth = 1708.533081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1708.533081 # Seafloor depth: -1758.533081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.520773 meters # Minimum depth: 1747.600485 meters looking forward 100.000000 meters along route # Maximum depth: 1758.418090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.600485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080827; longitude = -130.007632; duration = 406; initialDepth = 1697.038124; finalDepth = 1697.600485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.817605 # Actual altitude: 60.817605 # Commanded vehicle depth: 1697.600485 # Seafloor depth: -1758.418090 # 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 10 # Segment length 101.521122 meters # Minimum depth: 1747.038124 meters looking forward 100.000000 meters along route # Maximum depth: 1757.075459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.038124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080031; longitude = -130.008275; duration = 406; initialDepth = 1704.198774; finalDepth = 1697.038124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.817605 # Actual altitude: 60.817605 # Commanded vehicle depth: 1697.038124 # Seafloor depth: -1747.038124 # 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 10 # Segment length 101.521473 meters # Minimum depth: 1754.198774 meters looking forward 100.000000 meters along route # Maximum depth: 1758.636013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.198774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079235; longitude = -130.008919; duration = 406; initialDepth = 1698.635857; finalDepth = 1704.198774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.035689 # Actual altitude: 53.035689 # Commanded vehicle depth: 1704.198774 # Seafloor depth: -1757.234463 # 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 10 # Segment length 101.521822 meters # Minimum depth: 1748.635857 meters looking forward 100.000000 meters along route # Maximum depth: 1755.172417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.635857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078438; longitude = -130.009562; duration = 406; initialDepth = 1694.313992; finalDepth = 1698.635857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.035689 # Actual altitude: 53.035689 # Commanded vehicle depth: 1698.635857 # Seafloor depth: -1751.491491 # 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 10 # Segment length 104.906251 meters # Minimum depth: 1744.313992 meters looking forward 100.000000 meters along route # Maximum depth: 1751.199278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.313992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077642; longitude = -130.010206; duration = 419; initialDepth = 1691.371493; finalDepth = 1694.313992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.5804469999998 # Actual altitude: 56.5804469999998 # Commanded vehicle depth: 1694.313992 # Seafloor depth: -1750.894439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.95; 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 166.310281 meters # Minimum depth: 1741.371493 meters looking forward 100.000000 meters along route # Maximum depth: 1744.710041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.371493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076819; longitude = -130.010870; duration = 665; # abortOnTimeout = True; initialDepth = 1684.348626; finalDepth = 1691.371493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5804469999998 # Actual altitude: 56.5804469999998 # Commanded vehicle depth: 1691.371493 # Seafloor depth: -1743.694010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.054833 meters # Minimum depth: 1734.348626 meters looking forward 100.000000 meters along route # Maximum depth: 1744.263851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.348626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076101; longitude = -130.008983; duration = 408; initialDepth = 1681.209441; finalDepth = 1684.348626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4180329999999 # Actual altitude: 57.4180329999999 # Commanded vehicle depth: 1684.348626 # Seafloor depth: -1741.766659 # 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 9 # Segment length 102.055439 meters # Minimum depth: 1731.209441 meters looking forward 100.000000 meters along route # Maximum depth: 1734.134070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.209441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075661; longitude = -130.007825; duration = 408; initialDepth = 1678.752476; finalDepth = 1681.209441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4180329999999 # Actual altitude: 57.4180329999999 # Commanded vehicle depth: 1681.209441 # Seafloor depth: -1733.228073 # 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 9 # Segment length 102.056044 meters # Minimum depth: 1728.752476 meters looking forward 100.000000 meters along route # Maximum depth: 1733.653467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.752476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075221; longitude = -130.006667; duration = 408; initialDepth = 1654.703355; finalDepth = 1678.752476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.972837 # Actual altitude: 53.972837 # Commanded vehicle depth: 1678.752476 # Seafloor depth: -1732.725313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.056651 meters # Minimum depth: 1704.703355 meters looking forward 100.000000 meters along route # Maximum depth: 1728.463933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.703355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074781; longitude = -130.005508; duration = 408; initialDepth = 1654.231886; finalDepth = 1654.703355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9078849999999 # Actual altitude: 72.9078849999999 # Commanded vehicle depth: 1654.703355 # Seafloor depth: -1727.611240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.057256 meters # Minimum depth: 1704.231886 meters looking forward 100.000000 meters along route # Maximum depth: 1709.191223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.231886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074340; longitude = -130.004350; duration = 408; initialDepth = 1657.800317; finalDepth = 1654.231886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9078849999999 # Actual altitude: 72.9078849999999 # Commanded vehicle depth: 1654.231886 # Seafloor depth: -1704.822139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.057862 meters # Minimum depth: 1707.800317 meters looking forward 100.000000 meters along route # Maximum depth: 1713.965165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.800317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073900; longitude = -130.003192; duration = 408; initialDepth = 1655.874703; finalDepth = 1657.800317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5902530000001 # Actual altitude: 50.5902530000001 # Commanded vehicle depth: 1657.800317 # Seafloor depth: -1707.873950 # 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 9 # Segment length 102.058469 meters # Minimum depth: 1705.874703 meters looking forward 100.000000 meters along route # Maximum depth: 1711.766230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.874703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073460; longitude = -130.002034; duration = 408; initialDepth = 1661.991521; finalDepth = 1655.874703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.254363 # Actual altitude: 50.254363 # Commanded vehicle depth: 1655.874703 # Seafloor depth: -1706.129066 # 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 9 # Segment length 102.059074 meters # Minimum depth: 1711.991521 meters looking forward 100.000000 meters along route # Maximum depth: 1724.758233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.991521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073020; longitude = -130.000876; duration = 408; initialDepth = 1672.681051; finalDepth = 1661.991521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.254363 # Actual altitude: 50.254363 # Commanded vehicle depth: 1661.991521 # Seafloor depth: -1711.991521 # 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 9 # Segment length 102.059680 meters # Minimum depth: 1722.681051 meters looking forward 100.000000 meters along route # Maximum depth: 1728.292436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.681051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072579; longitude = -129.999717; duration = 408; initialDepth = 1672.091883; finalDepth = 1672.681051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.681051 # Seafloor depth: -1722.681051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.060286 meters # Minimum depth: 1722.091883 meters looking forward 100.000000 meters along route # Maximum depth: 1725.040876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.091883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072139; longitude = -129.998559; duration = 408; initialDepth = 1672.873605; finalDepth = 1672.091883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0521959999999 # Actual altitude: 51.0521959999999 # Commanded vehicle depth: 1672.091883 # Seafloor depth: -1723.144079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.060893 meters # Minimum depth: 1722.873605 meters looking forward 100.000000 meters along route # Maximum depth: 1729.757196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.873605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071699; longitude = -129.997401; duration = 408; initialDepth = 1673.388946; finalDepth = 1672.873605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0521959999999 # Actual altitude: 51.0521959999999 # Commanded vehicle depth: 1672.873605 # Seafloor depth: -1722.961805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.061498 meters # Minimum depth: 1723.388946 meters looking forward 100.000000 meters along route # Maximum depth: 1729.313493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.388946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071259; longitude = -129.996243; duration = 408; initialDepth = 1673.511109; finalDepth = 1673.388946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.197367 # Actual altitude: 55.197367 # Commanded vehicle depth: 1673.388946 # Seafloor depth: -1728.586313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.062104 meters # Minimum depth: 1723.511109 meters looking forward 100.000000 meters along route # Maximum depth: 1729.090482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.511109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070818; longitude = -129.995085; duration = 408; initialDepth = 1671.312568; finalDepth = 1673.511109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.197367 # Actual altitude: 55.197367 # Commanded vehicle depth: 1673.511109 # Seafloor depth: -1724.814763 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.062711 meters # Minimum depth: 1721.312568 meters looking forward 100.000000 meters along route # Maximum depth: 1724.447391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.312568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070378; longitude = -129.993926; duration = 408; initialDepth = 1664.323299; finalDepth = 1671.312568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2769469999998 # Actual altitude: 52.2769469999998 # Commanded vehicle depth: 1671.312568 # Seafloor depth: -1723.589515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.063316 meters # Minimum depth: 1714.323299 meters looking forward 100.000000 meters along route # Maximum depth: 1724.086299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.323299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069938; longitude = -129.992768; duration = 408; initialDepth = 1663.374801; finalDepth = 1664.323299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0283280000001 # Actual altitude: 59.0283280000001 # Commanded vehicle depth: 1664.323299 # Seafloor depth: -1723.351627 # 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 9 # Segment length 102.063923 meters # Minimum depth: 1713.374801 meters looking forward 100.000000 meters along route # Maximum depth: 1723.524043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.374801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069498; longitude = -129.991610; duration = 408; initialDepth = 1674.679455; finalDepth = 1663.374801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0283280000001 # Actual altitude: 59.0283280000001 # Commanded vehicle depth: 1663.374801 # Seafloor depth: -1714.566294 # 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 9 # Segment length 102.064529 meters # Minimum depth: 1724.679455 meters looking forward 100.000000 meters along route # Maximum depth: 1741.660183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.679455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069057; longitude = -129.990452; duration = 408; initialDepth = 1691.940446; finalDepth = 1674.679455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.191493 # Actual altitude: 51.191493 # Commanded vehicle depth: 1674.679455 # Seafloor depth: -1724.679455 # 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 9 # Segment length 102.065134 meters # Minimum depth: 1741.940446 meters looking forward 100.000000 meters along route # Maximum depth: 1744.655188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.940446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068617; longitude = -129.989294; duration = 408; initialDepth = 1693.070857; finalDepth = 1691.940446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1607139999999 # Actual altitude: 50.1607139999999 # Commanded vehicle depth: 1691.940446 # Seafloor depth: -1742.101160 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.065741 meters # Minimum depth: 1743.070857 meters looking forward 100.000000 meters along route # Maximum depth: 1746.177737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.070857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068177; longitude = -129.988135; duration = 408; initialDepth = 1693.497306; finalDepth = 1693.070857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6677220000001 # Actual altitude: 50.6677220000001 # Commanded vehicle depth: 1693.070857 # Seafloor depth: -1743.738579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.066348 meters # Minimum depth: 1743.497306 meters looking forward 100.000000 meters along route # Maximum depth: 1745.750981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.497306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067736; longitude = -129.986977; duration = 408; initialDepth = 1693.577485; finalDepth = 1693.497306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.041121 # Actual altitude: 51.041121 # Commanded vehicle depth: 1693.497306 # Seafloor depth: -1744.538427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.066953 meters # Minimum depth: 1743.577485 meters looking forward 100.000000 meters along route # Maximum depth: 1746.818312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.577485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067296; longitude = -129.985819; duration = 408; initialDepth = 1681.542502; finalDepth = 1693.577485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.041121 # Actual altitude: 51.041121 # Commanded vehicle depth: 1693.577485 # Seafloor depth: -1744.088588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.067559 meters # Minimum depth: 1731.542502 meters looking forward 100.000000 meters along route # Maximum depth: 1744.392843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.542502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066856; longitude = -129.984661; duration = 408; initialDepth = 1681.924930; finalDepth = 1681.542502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.312373 # Actual altitude: 62.312373 # Commanded vehicle depth: 1681.542502 # Seafloor depth: -1743.854875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.068166 meters # Minimum depth: 1731.924930 meters looking forward 100.000000 meters along route # Maximum depth: 1739.041083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.924930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066416; longitude = -129.983503; duration = 408; initialDepth = 1683.309745; finalDepth = 1681.924930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.312373 # Actual altitude: 62.312373 # Commanded vehicle depth: 1681.92493 # Seafloor depth: -1732.535975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.068772 meters # Minimum depth: 1733.309745 meters looking forward 100.000000 meters along route # Maximum depth: 1738.212775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.309745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065975; longitude = -129.982345; duration = 408; initialDepth = 1667.946079; finalDepth = 1683.309745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6110450000001 # Actual altitude: 50.6110450000001 # Commanded vehicle depth: 1683.309745 # Seafloor depth: -1733.309745 # 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 9 # Segment length 103.959558 meters # Minimum depth: 1717.946079 meters looking forward 100.000000 meters along route # Maximum depth: 1736.415536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.946079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065535; longitude = -129.981186; duration = 415; initialDepth = 1667.458659; finalDepth = 1667.946079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.4694569999999 # Actual altitude: 68.4694569999999 # Commanded vehicle depth: 1667.946079 # Seafloor depth: -1736.415536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 160.288571 meters # Minimum depth: 1717.458659 meters looking forward 100.000000 meters along route # Maximum depth: 1738.309684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.458659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065087; longitude = -129.980007; duration = 641; # abortOnTimeout = True; initialDepth = 1682.214680; finalDepth = 1667.458659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4694569999999 # Actual altitude: 68.4694569999999 # Commanded vehicle depth: 1667.458659 # Seafloor depth: -1717.458659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.829612 meters # Minimum depth: 1732.214680 meters looking forward 100.000000 meters along route # Maximum depth: 1737.297326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.214680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065773; longitude = -129.981830; duration = 407; initialDepth = 1681.048660; finalDepth = 1682.214680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4611239999999 # Actual altitude: 52.4611239999999 # Commanded vehicle depth: 1682.21468 # Seafloor depth: -1734.675804 # 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 8 # Segment length 101.829011 meters # Minimum depth: 1731.048660 meters looking forward 100.000000 meters along route # Maximum depth: 1739.193253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.048660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066208; longitude = -129.982988; duration = 407; initialDepth = 1689.926393; finalDepth = 1681.048660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.616884 # Actual altitude: 56.616884 # Commanded vehicle depth: 1681.04866 # Seafloor depth: -1737.665544 # 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 8 # Segment length 101.828410 meters # Minimum depth: 1739.926393 meters looking forward 100.000000 meters along route # Maximum depth: 1746.259632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.926393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066644; longitude = -129.984146; duration = 407; initialDepth = 1693.427482; finalDepth = 1689.926393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.616884 # Actual altitude: 56.616884 # Commanded vehicle depth: 1689.926393 # Seafloor depth: -1739.926393 # 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 8 # Segment length 105.599197 meters # Minimum depth: 1743.427482 meters looking forward 100.000000 meters along route # Maximum depth: 1745.418498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.427482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067080; longitude = -129.985304; duration = 422; initialDepth = 1693.372096; finalDepth = 1693.427482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.6453879999999 # Actual altitude: 51.6453879999999 # Commanded vehicle depth: 1693.427482 # Seafloor depth: -1745.072870 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 124.911499 meters # Minimum depth: 1743.372096 meters looking forward 100.000000 meters along route # Maximum depth: 1745.152995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.372096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067532; longitude = -129.986505; duration = 499; # abortOnTimeout = True; initialDepth = 1687.983463; finalDepth = 1693.372096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7808989999999 # Actual altitude: 51.7808989999999 # Commanded vehicle depth: 1693.372096 # Seafloor depth: -1745.152995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.890241 meters # Minimum depth: 1737.983463 meters looking forward 100.000000 meters along route # Maximum depth: 1744.352219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.983463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066477; longitude = -129.985948; duration = 403; initialDepth = 1682.498253; finalDepth = 1687.983463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.546284 # Actual altitude: 55.546284 # Commanded vehicle depth: 1687.983463 # Seafloor depth: -1743.529747 # 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 7 # Segment length 100.890407 meters # Minimum depth: 1732.498253 meters looking forward 100.000000 meters along route # Maximum depth: 1736.225587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.498253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065625; longitude = -129.985497; duration = 403; initialDepth = 1683.876058; finalDepth = 1682.498253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.546284 # Actual altitude: 55.546284 # Commanded vehicle depth: 1682.498253 # Seafloor depth: -1736.225587 # 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 7 # Segment length 100.890572 meters # Minimum depth: 1733.876058 meters looking forward 100.000000 meters along route # Maximum depth: 1738.432414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.876058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064773; longitude = -129.985047; duration = 403; initialDepth = 1680.403897; finalDepth = 1683.876058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7273339999999 # Actual altitude: 53.7273339999999 # Commanded vehicle depth: 1683.876058 # Seafloor depth: -1733.876058 # 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 7 # Segment length 105.695063 meters # Minimum depth: 1730.403897 meters looking forward 100.000000 meters along route # Maximum depth: 1736.441885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.403897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063920; longitude = -129.984597; duration = 422; initialDepth = 1679.502604; finalDepth = 1680.403897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.960695 # Actual altitude: 55.960695 # Commanded vehicle depth: 1680.403897 # Seafloor depth: -1736.364592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 131.927555 meters # Minimum depth: 1729.502604 meters looking forward 100.000000 meters along route # Maximum depth: 1737.513593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.502604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063028; longitude = -129.984125; duration = 527; # abortOnTimeout = True; initialDepth = 1682.637132; finalDepth = 1679.502604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.960695 # Actual altitude: 55.960695 # Commanded vehicle depth: 1679.502604 # Seafloor depth: -1729.502604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 131.423469 meters # Minimum depth: 1732.637132 meters looking forward 100.000000 meters along route # Maximum depth: 1738.596398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.637132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064079; longitude = -129.983331; duration = 525; # abortOnTimeout = True; initialDepth = 1655.361395; finalDepth = 1682.637132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 54.6000099999999 # Actual altitude: 54.6000099999999 # Commanded vehicle depth: 1682.637132 # Seafloor depth: -1737.237142 # 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; } # ####################################################### # # 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 89.947395 meters # Minimum depth: 1730.361395 meters looking forward 100.000000 meters along route # Maximum depth: 1734.120242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.361395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065108; longitude = -129.982495; duration = 359; # abortOnTimeout = True; initialDepth = 1660.214392; finalDepth = 1655.361395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.905532 # Actual altitude: 75.905532 # Commanded vehicle depth: 1655.361395 # Seafloor depth: -1731.266927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.740791 meters # Minimum depth: 1735.214392 meters looking forward 100.000000 meters along route # Maximum depth: 1743.091175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.214392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065827; longitude = -129.981958; duration = 402; initialDepth = 1667.613932; finalDepth = 1660.214392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 75.905532 # Actual altitude: 75.905532 # Commanded vehicle depth: 1660.214392 # Seafloor depth: -1736.042609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 114.087143 meters # Minimum depth: 1742.613932 meters looking forward 100.000000 meters along route # Maximum depth: 1753.776500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.613932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066631; longitude = -129.981358; duration = 456; # abortOnTimeout = True; initialDepth = 1699.841309; finalDepth = 1667.613932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.828217 # Actual altitude: 75.828217 # Commanded vehicle depth: 1667.613932 # Seafloor depth: -1742.613932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.50; 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 166.557351 meters # Minimum depth: 1749.841309 meters looking forward 100.000000 meters along route # Maximum depth: 1762.313596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.841309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067532; longitude = -129.980650; duration = 666; # abortOnTimeout = True; initialDepth = 1703.155374; finalDepth = 1699.841309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1699.841309 # Seafloor depth: -1749.841309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.00; 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 1 # Segment length 152.785005 meters # Minimum depth: 1753.155374 meters looking forward 100.000000 meters along route # Maximum depth: 1763.328451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.155374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068840; longitude = -129.979599; duration = 611; # abortOnTimeout = True; initialDepth = 1693.654199; finalDepth = 1703.155374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1730770000001 # Actual altitude: 60.1730770000001 # Commanded vehicle depth: 1703.155374 # Seafloor depth: -1763.328451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.172029 meters # Minimum depth: 1743.654199 meters looking forward 100.000000 meters along route # Maximum depth: 1748.650838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.654199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067632; longitude = -129.980543; duration = 416; initialDepth = 1688.003473; finalDepth = 1693.654199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1730770000001 # Actual altitude: 60.1730770000001 # Commanded vehicle depth: 1693.654199 # Seafloor depth: -1748.528035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.172380 meters # Minimum depth: 1738.003473 meters looking forward 100.000000 meters along route # Maximum depth: 1744.469264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.003473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066809; longitude = -129.981186; duration = 416; initialDepth = 1681.542948; finalDepth = 1688.003473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4657910000001 # Actual altitude: 56.4657910000001 # Commanded vehicle depth: 1688.003473 # Seafloor depth: -1744.469264 # 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 1 # Segment length 104.172732 meters # Minimum depth: 1731.542948 meters looking forward 100.000000 meters along route # Maximum depth: 1736.254945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.542948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065985; longitude = -129.981830; duration = 416; initialDepth = 1680.826019; finalDepth = 1681.542948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4657910000001 # Actual altitude: 56.4657910000001 # Commanded vehicle depth: 1681.542948 # Seafloor depth: -1736.027249 # 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 1 # Segment length 104.173084 meters # Minimum depth: 1730.826019 meters looking forward 100.000000 meters along route # Maximum depth: 1738.952103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.826019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065161; longitude = -129.982473; duration = 416; initialDepth = 1684.511200; finalDepth = 1680.826019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.484301 # Actual altitude: 54.484301 # Commanded vehicle depth: 1680.826019 # Seafloor depth: -1730.826019 # 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 1 # Segment length 104.173436 meters # Minimum depth: 1734.511200 meters looking forward 100.000000 meters along route # Maximum depth: 1738.444100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.511200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064338; longitude = -129.983117; duration = 416; initialDepth = 1673.761510; finalDepth = 1684.511200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4589430000001 # Actual altitude: 51.4589430000001 # Commanded vehicle depth: 1684.5112 # Seafloor depth: -1735.970143 # 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 1 # Segment length 107.646253 meters # Minimum depth: 1723.761510 meters looking forward 100.000000 meters along route # Maximum depth: 1735.637671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1769.283808 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.761510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063514; longitude = -129.983760; duration = 430; initialDepth = 1673.761510; finalDepth = 1673.761510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.0220939999999 # Actual altitude: 61.0220939999999 # Commanded vehicle depth: 1673.76151 # Seafloor depth: -1734.783604 # 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; } # ####################################################### # # 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: 61.0220939999999 # Sonar parameter altitude: 61.0220939999999 # Commanded vehicle depth: 1673.76151 # Seafloor depth: -1725.141927 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 36.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 107.646253 meters # Minimum depth: 1723.761510 meters looking forward 100.000000 meters along route # Maximum depth: 1735.637671 meters looking forward 100.000000 meters along route # Vehicle depth: 1673.761510 meters behavior waypoint { latitude = 46.062663; longitude = -129.984425; duration = 3347; depth = 1673.761510; 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 1673.761510 meters set by local depth and desired altitude behavior descend { duration = 6200; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1665.141927; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 107.646253 meters # Minimum depth: 1723.761510 meters looking forward 100.000000 meters along route # Maximum depth: 1735.637671 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 46.062663; longitude = -129.984425; 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 = 90.0; 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 = 90.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################