# 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_3v2.rte # Mission File: 7A_AxialMidNrift_3v2.cfg # Distance: 60496.140321 (m) # Estimated Time: 42941 (s) 11.928 (hr) # Abort Time: 55824 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 2591 (s) # Way Points: 41 # Route Points: 580 # 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: 1756.768117 (m) # Abort Vehicle Depth: 1781.768117 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1670.618591 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 -129.985798 46.081044 -1730.618591 0.000000 3 # 1 -129.993326 46.082074 -1736.003113 593.240038 3 # 2 -129.986420 46.090717 -1742.922882 1692.074100 3 # 3 -129.984704 46.090052 -1743.930115 1843.931213 3 # 4 -130.012865 46.054817 -1669.133575 6324.095226 3 # 5 -130.011171 46.054161 -1668.817200 6474.054404 3 # 6 -129.982966 46.089345 -1728.411560 10950.935504 3 # 7 -129.981294 46.088701 -1741.262177 11098.688543 3 # 8 -130.009476 46.053505 -1667.918579 15575.878879 3 # 9 -130.007782 46.052848 -1667.941986 15725.894728 3 # 10 -129.979535 46.088143 -1759.295532 20215.151576 3 # 11 -129.977926 46.087436 -1744.988739 20362.280646 3 # 12 -130.005723 46.052625 -1676.573486 24787.627845 3 # 13 -130.004007 46.051961 -1677.233032 24939.510920 3 # 14 -129.976253 46.086792 -1742.573761 29365.197622 3 # 15 -129.974537 46.086063 -1748.497833 29520.647166 3 # 16 -130.001669 46.052111 -1683.031158 33837.594820 3 # 17 -129.999996 46.051467 -1682.055847 33985.491832 3 # 18 -129.972907 46.085505 -1754.085022 38309.190197 3 # 19 -129.971192 46.084840 -1780.428101 38460.990356 3 # 20 -129.997937 46.051339 -1683.724945 42719.609975 3 # 21 -129.996136 46.050824 -1679.006805 42870.240590 3 # 22 -129.969519 46.084261 -1779.617676 47117.847048 3 # 23 -129.967781 46.083554 -1777.215973 47273.508035 3 # 24 -129.981937 46.065859 -1736.190094 49523.925186 3 # 25 -129.980328 46.065215 -1721.000000 49667.481823 3 # 26 -129.966173 46.082974 -1757.381256 51924.082565 3 # 27 -129.964564 46.082331 -1753.811646 52067.550265 3 # 28 -129.970398 46.074760 -1740.494781 53022.137742 3 # 29 -129.968789 46.074116 -1741.300323 53165.676854 3 # 30 -129.962870 46.081516 -1758.717865 54106.744125 3 # 31 -129.961132 46.080937 -1742.145996 54255.739645 3 # 32 -129.967052 46.073473 -1714.638733 55203.066341 3 # 33 -129.965401 46.072808 -1718.738281 55350.587421 3 # 34 -129.959417 46.080272 -1732.284454 56300.318042 3 # 35 -129.957679 46.079629 -1711.719147 56452.522144 3 # 36 -129.963663 46.072165 -1724.051270 57402.255070 3 # 37 -129.961990 46.071521 -1724.889893 57550.110382 3 # 38 -129.958494 46.075918 -1677.171570 58108.503081 3 # 39 -129.975996 46.077205 -1745.337494 59469.480277 3 # 40 -129.987835 46.081387 -1730.999817 60496.140321 4 # # A total of 580 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 55824; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1756.768117; abortDepth = 1781.768117; 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 = 2591; 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 40 # Segment length 119.015541 meters # Minimum depth: 1727.769286 meters looking forward 100.000000 meters along route # Maximum depth: 1730.999817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.769286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081387; longitude = -129.987835; duration = 476; # abortOnTimeout = True; initialDepth = 1676.840521; finalDepth = 1677.769286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2305309999999 # Actual altitude: 53.2305309999999 # Commanded vehicle depth: 1677.769286 # Seafloor depth: -1730.999817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.434899 meters # Minimum depth: 1726.840521 meters looking forward 100.000000 meters along route # Maximum depth: 1729.902659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.840521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080902; longitude = -129.986463; duration = 401; initialDepth = 1676.171454; finalDepth = 1676.840521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2305309999999 # Actual altitude: 53.2305309999999 # Commanded vehicle depth: 1676.840521 # Seafloor depth: -1729.012763 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.435472 meters # Minimum depth: 1726.171454 meters looking forward 100.000000 meters along route # Maximum depth: 1728.215174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.171454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080493; longitude = -129.985304; duration = 401; initialDepth = 1676.523797; finalDepth = 1676.171454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1722419999999 # Actual altitude: 52.1722419999999 # Commanded vehicle depth: 1676.171454 # Seafloor depth: -1727.338489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.436043 meters # Minimum depth: 1726.523797 meters looking forward 100.000000 meters along route # Maximum depth: 1729.965716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.523797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080084; longitude = -129.984146; duration = 401; initialDepth = 1675.889996; finalDepth = 1676.523797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7955529999999 # Actual altitude: 51.7955529999999 # Commanded vehicle depth: 1676.523797 # Seafloor depth: -1728.319350 # 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 40 # Segment length 100.436616 meters # Minimum depth: 1725.889996 meters looking forward 100.000000 meters along route # Maximum depth: 1729.595990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.889996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079675; longitude = -129.982988; duration = 401; initialDepth = 1676.686234; finalDepth = 1675.889996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7955529999999 # Actual altitude: 51.7955529999999 # Commanded vehicle depth: 1675.889996 # Seafloor depth: -1727.519681 # 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 40 # Segment length 100.437188 meters # Minimum depth: 1726.686234 meters looking forward 100.000000 meters along route # Maximum depth: 1730.417079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.686234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079266; longitude = -129.981830; duration = 401; initialDepth = 1676.102563; finalDepth = 1676.686234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.561072 # Actual altitude: 52.561072 # Commanded vehicle depth: 1676.686234 # Seafloor depth: -1729.247306 # 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 40 # Segment length 100.437760 meters # Minimum depth: 1726.102563 meters looking forward 100.000000 meters along route # Maximum depth: 1741.572269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.102563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078857; longitude = -129.980672; duration = 401; initialDepth = 1687.489852; finalDepth = 1676.102563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.561072 # Actual altitude: 52.561072 # Commanded vehicle depth: 1676.102563 # Seafloor depth: -1727.115645 # 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 40 # Segment length 100.438332 meters # Minimum depth: 1737.489852 meters looking forward 100.000000 meters along route # Maximum depth: 1741.571437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.489852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078447; longitude = -129.979513; duration = 401; initialDepth = 1690.510351; finalDepth = 1687.489852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0130820000002 # Actual altitude: 51.0130820000002 # Commanded vehicle depth: 1687.489852 # Seafloor depth: -1737.489852 # 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 40 # Segment length 100.438904 meters # Minimum depth: 1740.510351 meters looking forward 100.000000 meters along route # Maximum depth: 1743.395654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.510351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078038; longitude = -129.978355; duration = 401; initialDepth = 1692.181740; finalDepth = 1690.510351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2247610000002 # Actual altitude: 50.2247610000002 # Commanded vehicle depth: 1690.510351 # Seafloor depth: -1740.735112 # 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 40 # Segment length 104.149289 meters # Minimum depth: 1742.181740 meters looking forward 100.000000 meters along route # Maximum depth: 1744.873682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.181740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077629; longitude = -129.977197; duration = 416; initialDepth = 1695.337494; finalDepth = 1692.181740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.2795490000001 # Actual altitude: 50.2795490000001 # Commanded vehicle depth: 1692.18174 # Seafloor depth: -1742.461289 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 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: 1756.768117 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: 50.2795490000001 # Actual altitude: 50.2795490000001 # 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 = 30.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # 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: 1756.768117 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 39 # Segment length 100.069032 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: 1756.768117 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 39 # 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: 1756.768117 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 39 # Segment length 100.069334 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: 1756.768117 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 39 # 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: 1756.768117 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 39 # Segment length 100.069635 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: 1756.768117 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 39 # 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: 1756.768117 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 39 # Segment length 100.069938 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: 1756.768117 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 39 # 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: 1756.768117 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 39 # 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: 1756.768117 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 39 # 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: 1756.768117 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 39 # 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: 1756.768117 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 38 # 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: 1756.768117 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 38 # 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: 1756.768117 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 38 # 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: 1756.768117 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 38 # 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: 1756.768117 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 38 # 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: 1756.768117 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 37 # Segment length 147.855312 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: 1756.768117 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 36 # 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: 1756.768117 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 36 # Segment length 102.122910 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: 1756.768117 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 36 # 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: 1756.768117 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 36 # 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: 1756.768117 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 36 # 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: 1756.768117 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 36 # 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: 1756.768117 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 36 # 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: 1756.768117 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 36 # 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: 1756.768117 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: 54.6422041598921 # Actual altitude: 54.6422041598921 # 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 36 # 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: 1756.768117 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 35 # 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: 1756.768117 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 34 # Segment length 125.875825 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: 1756.768117 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 34 # 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: 1756.768117 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 34 # Segment length 102.120982 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: 1756.768117 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 34 # 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: 1756.768117 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 34 # Segment length 102.121681 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: 1756.768117 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 34 # Segment length 102.122032 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: 1756.768117 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 34 # 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: 1756.768117 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 34 # Segment length 102.122731 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: 1756.768117 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 34 # Segment length 109.003024 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: 1756.768117 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 33 # 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: 1756.768117 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 32 # Segment length 116.686959 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: 1756.768117 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 32 # 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: 1756.768117 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 32 # Segment length 102.965080 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: 1756.768117 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 32 # 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: 1756.768117 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 32 # Segment length 102.964377 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: 1756.768117 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 32 # Segment length 102.964028 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: 1756.768117 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 32 # Segment length 102.963676 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: 1756.768117 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 32 # 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: 1756.768117 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 32 # 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: 1756.768117 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 31 # Segment length 148.995520 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: 1756.768117 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 30 # Segment length 119.298837 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: 1756.768117 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 30 # 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: 1756.768117 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 30 # Segment length 102.300660 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: 1756.768117 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 30 # 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: 1756.768117 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 30 # Segment length 102.301360 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: 1756.768117 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 30 # Segment length 102.301711 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: 1756.768117 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 30 # Segment length 102.302060 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: 1756.768117 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 30 # Segment length 102.302411 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: 1756.768117 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 30 # 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: 1756.768117 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 29 # 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: 1756.768117 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 28 # 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: 1756.768117 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 28 # Segment length 105.284066 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: 1756.768117 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 28 # 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: 1756.768117 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 28 # 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: 1756.768117 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 28 # 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: 1756.768117 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 28 # 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: 1756.768117 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 28 # Segment length 105.282304 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: 1756.768117 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 28 # 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: 1756.768117 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 28 # 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: 1756.768117 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 27 # Segment length 143.467700 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: 1756.768117 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 = 1703.052680; 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 26 # Segment length 95.684561 meters # Minimum depth: 1753.052680 meters looking forward 100.000000 meters along route # Maximum depth: 1768.575512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.052680 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 = 382; # abortOnTimeout = True; initialDepth = 1706.168669; finalDepth = 1703.052680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3285759999999 # Actual altitude: 54.3285759999999 # Commanded vehicle depth: 1703.05268 # Seafloor depth: -1757.381256 # 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 26 # Segment length 102.574554 meters # Minimum depth: 1756.168669 meters looking forward 100.000000 meters along route # Maximum depth: 1761.058118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.168669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082221; longitude = -129.966773; duration = 410; initialDepth = 1706.568399; finalDepth = 1706.168669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3285759999999 # Actual altitude: 54.3285759999999 # Commanded vehicle depth: 1706.168669 # Seafloor depth: -1760.459414 # 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 26 # Segment length 102.574904 meters # Minimum depth: 1756.568399 meters looking forward 100.000000 meters along route # Maximum depth: 1764.367786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.568399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081414; longitude = -129.967417; duration = 410; initialDepth = 1697.060792; finalDepth = 1706.568399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.290745 # Actual altitude: 54.290745 # Commanded vehicle depth: 1706.568399 # Seafloor depth: -1757.808210 # 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 26 # Segment length 102.575255 meters # Minimum depth: 1747.060792 meters looking forward 100.000000 meters along route # Maximum depth: 1762.597967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.060792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080606; longitude = -129.968060; duration = 410; initialDepth = 1688.501068; finalDepth = 1697.060792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2949410000001 # Actual altitude: 64.2949410000001 # Commanded vehicle depth: 1697.060792 # Seafloor depth: -1761.355733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.575605 meters # Minimum depth: 1738.501068 meters looking forward 100.000000 meters along route # Maximum depth: 1747.617438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.501068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079799; longitude = -129.968704; duration = 410; initialDepth = 1685.013209; finalDepth = 1688.501068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2949410000001 # Actual altitude: 64.2949410000001 # Commanded vehicle depth: 1688.501068 # Seafloor depth: -1747.617438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.575956 meters # Minimum depth: 1735.013209 meters looking forward 100.000000 meters along route # Maximum depth: 1739.477641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.013209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078992; longitude = -129.969347; duration = 410; initialDepth = 1683.458506; finalDepth = 1685.013209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.11637 # Actual altitude: 59.11637 # Commanded vehicle depth: 1685.013209 # Seafloor depth: -1737.804911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.576306 meters # Minimum depth: 1733.458506 meters looking forward 100.000000 meters along route # Maximum depth: 1748.109309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.458506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078185; longitude = -129.969990; duration = 410; initialDepth = 1696.159208; finalDepth = 1683.458506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.791702 # Actual altitude: 52.791702 # Commanded vehicle depth: 1683.458506 # Seafloor depth: -1733.458506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.576657 meters # Minimum depth: 1746.159208 meters looking forward 100.000000 meters along route # Maximum depth: 1751.823696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.159208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077377; longitude = -129.970634; duration = 410; initialDepth = 1699.879543; finalDepth = 1696.159208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.077861 # Actual altitude: 53.077861 # Commanded vehicle depth: 1696.159208 # Seafloor depth: -1749.237069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.577007 meters # Minimum depth: 1749.879543 meters looking forward 100.000000 meters along route # Maximum depth: 1752.976393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.879543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076570; longitude = -129.971277; duration = 410; initialDepth = 1700.451209; finalDepth = 1699.879543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.077861 # Actual altitude: 53.077861 # Commanded vehicle depth: 1699.879543 # Seafloor depth: -1750.443881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.577358 meters # Minimum depth: 1750.451209 meters looking forward 100.000000 meters along route # Maximum depth: 1753.812085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.451209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075763; longitude = -129.971921; duration = 410; initialDepth = 1693.141973; finalDepth = 1700.451209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5643379999999 # Actual altitude: 50.5643379999999 # Commanded vehicle depth: 1700.451209 # Seafloor depth: -1750.451209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.577708 meters # Minimum depth: 1743.141973 meters looking forward 100.000000 meters along route # Maximum depth: 1754.444354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.141973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074956; longitude = -129.972564; duration = 410; initialDepth = 1690.630114; finalDepth = 1693.141973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.302381 # Actual altitude: 61.302381 # Commanded vehicle depth: 1693.141973 # Seafloor depth: -1754.444354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.578058 meters # Minimum depth: 1740.630114 meters looking forward 100.000000 meters along route # Maximum depth: 1747.646394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.630114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074148; longitude = -129.973208; duration = 410; initialDepth = 1696.462324; finalDepth = 1690.630114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.302381 # Actual altitude: 61.302381 # Commanded vehicle depth: 1690.630114 # Seafloor depth: -1743.453676 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.578409 meters # Minimum depth: 1746.462324 meters looking forward 100.000000 meters along route # Maximum depth: 1751.573816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.462324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073341; longitude = -129.973851; duration = 410; initialDepth = 1681.652468; finalDepth = 1696.462324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.823562 # Actual altitude: 52.823562 # Commanded vehicle depth: 1696.462324 # Seafloor depth: -1747.493523 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.578759 meters # Minimum depth: 1731.652468 meters looking forward 100.000000 meters along route # Maximum depth: 1752.449355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.652468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072534; longitude = -129.974495; duration = 410; initialDepth = 1674.716239; finalDepth = 1681.652468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.796887 # Actual altitude: 70.796887 # Commanded vehicle depth: 1681.652468 # Seafloor depth: -1752.449355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.579110 meters # Minimum depth: 1724.716239 meters looking forward 100.000000 meters along route # Maximum depth: 1735.084608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.716239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071726; longitude = -129.975138; duration = 410; initialDepth = 1683.850636; finalDepth = 1674.716239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.796887 # Actual altitude: 70.796887 # Commanded vehicle depth: 1674.716239 # Seafloor depth: -1730.675886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.579461 meters # Minimum depth: 1733.850636 meters looking forward 100.000000 meters along route # Maximum depth: 1745.965764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.850636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070919; longitude = -129.975781; duration = 410; initialDepth = 1676.672071; finalDepth = 1683.850636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9596469999999 # Actual altitude: 55.9596469999999 # Commanded vehicle depth: 1683.850636 # Seafloor depth: -1734.789758 # 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 26 # Segment length 102.579811 meters # Minimum depth: 1726.672071 meters looking forward 100.000000 meters along route # Maximum depth: 1743.106999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.672071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070112; longitude = -129.976425; duration = 410; initialDepth = 1670.035908; finalDepth = 1676.672071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4349280000001 # Actual altitude: 66.4349280000001 # Commanded vehicle depth: 1676.672071 # Seafloor depth: -1743.106999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.580161 meters # Minimum depth: 1720.035908 meters looking forward 100.000000 meters along route # Maximum depth: 1727.220972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.035908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069305; longitude = -129.977068; duration = 410; initialDepth = 1673.563426; finalDepth = 1670.035908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4349280000001 # Actual altitude: 66.4349280000001 # Commanded vehicle depth: 1670.035908 # Seafloor depth: -1727.220972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.580512 meters # Minimum depth: 1723.563426 meters looking forward 100.000000 meters along route # Maximum depth: 1730.132354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.563426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068497; longitude = -129.977712; duration = 410; initialDepth = 1663.861515; finalDepth = 1673.563426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.185064 # Actual altitude: 57.185064 # Commanded vehicle depth: 1673.563426 # Seafloor depth: -1724.383354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.580863 meters # Minimum depth: 1713.861515 meters looking forward 100.000000 meters along route # Maximum depth: 1729.117255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.861515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067690; longitude = -129.978355; duration = 410; initialDepth = 1659.944900; finalDepth = 1663.861515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2557399999998 # Actual altitude: 65.2557399999998 # Commanded vehicle depth: 1663.861515 # Seafloor depth: -1729.117255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.581213 meters # Minimum depth: 1709.944900 meters looking forward 100.000000 meters along route # Maximum depth: 1714.413242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.944900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066883; longitude = -129.978999; duration = 410; initialDepth = 1658.253110; finalDepth = 1659.944900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2557399999998 # Actual altitude: 65.2557399999998 # Commanded vehicle depth: 1659.9449 # Seafloor depth: -1714.413242 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 109.358514 meters # Minimum depth: 1708.253110 meters looking forward 100.000000 meters along route # Maximum depth: 1724.929428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.253110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066076; longitude = -129.979642; duration = 437; initialDepth = 1671.000000; finalDepth = 1658.253110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4683420000001 # Actual altitude: 54.4683420000001 # Commanded vehicle depth: 1658.25311 # Seafloor depth: -1708.253110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 143.556637 meters # Minimum depth: 1721.000000 meters looking forward 100.000000 meters along route # Maximum depth: 1738.217700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065215; longitude = -129.980328; duration = 574; # abortOnTimeout = True; initialDepth = 1685.556581; finalDepth = 1671.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1671 # Seafloor depth: -1721.000000 # 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 24 # Segment length 98.884890 meters # Minimum depth: 1735.556581 meters looking forward 100.000000 meters along route # Maximum depth: 1743.201113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.556581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065859; longitude = -129.981937; duration = 395; # abortOnTimeout = True; initialDepth = 1692.968059; finalDepth = 1685.556581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.633513 # Actual altitude: 50.633513 # Commanded vehicle depth: 1685.556581 # Seafloor depth: -1736.190094 # 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 102.292933 meters # Minimum depth: 1742.968059 meters looking forward 100.000000 meters along route # Maximum depth: 1746.081606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.968059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066637; longitude = -129.981315; duration = 409; initialDepth = 1695.697702; finalDepth = 1692.968059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.633513 # Actual altitude: 50.633513 # Commanded vehicle depth: 1692.968059 # Seafloor depth: -1742.968059 # 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 102.292583 meters # Minimum depth: 1745.697702 meters looking forward 100.000000 meters along route # Maximum depth: 1755.287398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.697702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067441; longitude = -129.980672; duration = 409; initialDepth = 1704.026830; finalDepth = 1695.697702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1695.697702 # Seafloor depth: -1745.697702 # 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 102.292233 meters # Minimum depth: 1754.026830 meters looking forward 100.000000 meters along route # Maximum depth: 1766.518529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.026830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068245; longitude = -129.980028; duration = 409; initialDepth = 1716.482972; finalDepth = 1704.026830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1704.02683 # Seafloor depth: -1754.026830 # 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 102.291882 meters # Minimum depth: 1766.482972 meters looking forward 100.000000 meters along route # Maximum depth: 1768.566365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.482972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069049; longitude = -129.979385; duration = 409; initialDepth = 1708.850378; finalDepth = 1716.482972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1716.482972 # Seafloor depth: -1766.482972 # 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 102.291532 meters # Minimum depth: 1758.850378 meters looking forward 100.000000 meters along route # Maximum depth: 1766.135031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.850378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069854; longitude = -129.978741; duration = 409; initialDepth = 1707.022663; finalDepth = 1708.850378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2846529999999 # Actual altitude: 57.2846529999999 # Commanded vehicle depth: 1708.850378 # Seafloor depth: -1766.135031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.291182 meters # Minimum depth: 1757.022663 meters looking forward 100.000000 meters along route # Maximum depth: 1760.539068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.022663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070658; longitude = -129.978098; duration = 409; initialDepth = 1701.707834; finalDepth = 1707.022663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2846529999999 # Actual altitude: 57.2846529999999 # Commanded vehicle depth: 1707.022663 # Seafloor depth: -1760.539068 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.290831 meters # Minimum depth: 1751.707834 meters looking forward 100.000000 meters along route # Maximum depth: 1755.844306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.707834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071462; longitude = -129.977454; duration = 409; initialDepth = 1704.771205; finalDepth = 1701.707834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1364719999999 # Actual altitude: 54.1364719999999 # Commanded vehicle depth: 1701.707834 # Seafloor depth: -1755.844306 # 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 24 # Segment length 102.290481 meters # Minimum depth: 1754.771205 meters looking forward 100.000000 meters along route # Maximum depth: 1762.569056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.771205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072267; longitude = -129.976811; duration = 409; initialDepth = 1709.805851; finalDepth = 1704.771205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1364719999999 # Actual altitude: 54.1364719999999 # Commanded vehicle depth: 1704.771205 # Seafloor depth: -1754.771205 # 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 24 # Segment length 102.290131 meters # Minimum depth: 1759.805851 meters looking forward 100.000000 meters along route # Maximum depth: 1764.393857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.805851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073071; longitude = -129.976167; duration = 409; initialDepth = 1691.795317; finalDepth = 1709.805851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.684311 # Actual altitude: 52.684311 # Commanded vehicle depth: 1709.805851 # Seafloor depth: -1762.490162 # 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 102.289781 meters # Minimum depth: 1741.795317 meters looking forward 100.000000 meters along route # Maximum depth: 1759.781104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.795317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073875; longitude = -129.975524; duration = 409; initialDepth = 1690.987403; finalDepth = 1691.795317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9857869999998 # Actual altitude: 67.9857869999998 # Commanded vehicle depth: 1691.795317 # Seafloor depth: -1759.781104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.289430 meters # Minimum depth: 1740.987403 meters looking forward 100.000000 meters along route # Maximum depth: 1743.666918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.987403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074680; longitude = -129.974881; duration = 409; initialDepth = 1692.977250; finalDepth = 1690.987403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9857869999998 # Actual altitude: 67.9857869999998 # Commanded vehicle depth: 1690.987403 # Seafloor depth: -1743.008973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.289081 meters # Minimum depth: 1742.977250 meters looking forward 100.000000 meters along route # Maximum depth: 1746.793598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.977250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075484; longitude = -129.974237; duration = 409; initialDepth = 1694.127519; finalDepth = 1692.977250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0836330000002 # Actual altitude: 52.0836330000002 # Commanded vehicle depth: 1692.97725 # Seafloor depth: -1745.060883 # 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 24 # Segment length 102.288730 meters # Minimum depth: 1744.127519 meters looking forward 100.000000 meters along route # Maximum depth: 1779.844124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.127519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076288; longitude = -129.973594; duration = 409; initialDepth = 1731.134187; finalDepth = 1694.127519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0836330000002 # Actual altitude: 52.0836330000002 # Commanded vehicle depth: 1694.127519 # Seafloor depth: -1744.666066 # 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 24 # Segment length 102.288379 meters # Minimum depth: 1781.134187 meters looking forward 100.000000 meters along route # Maximum depth: 1783.081233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.134187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077092; longitude = -129.972950; duration = 409; initialDepth = 1731.768117; finalDepth = 1731.134187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5385470000001 # Actual altitude: 50.5385470000001 # Commanded vehicle depth: 1731.134187 # Seafloor depth: -1781.134187 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.288030 meters # Minimum depth: 1781.768117 meters looking forward 100.000000 meters along route # Maximum depth: 1785.256180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.768117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077897; longitude = -129.972307; duration = 409; initialDepth = 1729.265705; finalDepth = 1731.768117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4601459999999 # Actual altitude: 50.4601459999999 # Commanded vehicle depth: 1731.768117 # Seafloor depth: -1782.228263 # 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 24 # Segment length 102.287679 meters # Minimum depth: 1779.265705 meters looking forward 100.000000 meters along route # Maximum depth: 1784.612019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.265705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078701; longitude = -129.971663; duration = 409; initialDepth = 1727.198869; finalDepth = 1729.265705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3463139999999 # Actual altitude: 55.3463139999999 # Commanded vehicle depth: 1729.265705 # Seafloor depth: -1784.612019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.287329 meters # Minimum depth: 1777.198869 meters looking forward 100.000000 meters along route # Maximum depth: 1779.544213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.198869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079505; longitude = -129.971020; duration = 409; initialDepth = 1726.582470; finalDepth = 1727.198869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3463139999999 # Actual altitude: 55.3463139999999 # Commanded vehicle depth: 1727.198869 # Seafloor depth: -1779.544213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.286979 meters # Minimum depth: 1776.582470 meters looking forward 100.000000 meters along route # Maximum depth: 1778.680831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.582470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080310; longitude = -129.970376; duration = 409; initialDepth = 1723.644777; finalDepth = 1726.582470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3453439999998 # Actual altitude: 52.3453439999998 # Commanded vehicle depth: 1726.58247 # Seafloor depth: -1777.831484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.286628 meters # Minimum depth: 1773.644777 meters looking forward 100.000000 meters along route # Maximum depth: 1777.416606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.644777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081114; longitude = -129.969733; duration = 409; initialDepth = 1723.691693; finalDepth = 1723.644777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7177730000001 # Actual altitude: 53.7177730000001 # Commanded vehicle depth: 1723.644777 # Seafloor depth: -1777.362550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.286279 meters # Minimum depth: 1773.691693 meters looking forward 100.000000 meters along route # Maximum depth: 1778.309248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.691693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081918; longitude = -129.969090; duration = 409; initialDepth = 1727.119755; finalDepth = 1723.691693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7177730000001 # Actual altitude: 53.7177730000001 # Commanded vehicle depth: 1723.691693 # Seafloor depth: -1773.691693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 105.740148 meters # Minimum depth: 1777.119755 meters looking forward 100.000000 meters along route # Maximum depth: 1780.871435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.119755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082723; longitude = -129.968446; duration = 422; initialDepth = 1725.912517; finalDepth = 1727.119755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.533214 # Actual altitude: 51.533214 # Commanded vehicle depth: 1727.119755 # Seafloor depth: -1778.652969 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 155.660987 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: 1756.768117 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 = 1727.865804; finalDepth = 1725.912517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.533214 # Actual altitude: 51.533214 # 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 = 30.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 136.831761 meters # Minimum depth: 1777.865804 meters looking forward 100.000000 meters along route # Maximum depth: 1779.803831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.865804 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 = 1726.452633; finalDepth = 1727.865804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.751872 # Actual altitude: 51.751872 # Commanded vehicle depth: 1727.865804 # Seafloor depth: -1779.617676 # 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 22 # Segment length 102.675350 meters # Minimum depth: 1776.452633 meters looking forward 100.000000 meters along route # Maximum depth: 1780.333696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.452633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083184; longitude = -129.970376; duration = 410; initialDepth = 1725.603658; finalDepth = 1726.452633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.751872 # Actual altitude: 51.751872 # Commanded vehicle depth: 1726.452633 # Seafloor depth: -1778.123772 # 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 22 # Segment length 102.675701 meters # Minimum depth: 1775.603658 meters looking forward 100.000000 meters along route # Maximum depth: 1778.126999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.603658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082375; longitude = -129.971020; duration = 410; initialDepth = 1726.259275; finalDepth = 1725.603658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6711389999998 # Actual altitude: 51.6711389999998 # Commanded vehicle depth: 1725.603658 # Seafloor depth: -1775.898320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.676051 meters # Minimum depth: 1776.259275 meters looking forward 100.000000 meters along route # Maximum depth: 1778.524169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.259275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081567; longitude = -129.971663; duration = 410; initialDepth = 1697.153310; finalDepth = 1726.259275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.560592 # Actual altitude: 50.560592 # Commanded vehicle depth: 1726.259275 # Seafloor depth: -1776.819867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.676401 meters # Minimum depth: 1747.153310 meters looking forward 100.000000 meters along route # Maximum depth: 1775.641288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.153310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080759; longitude = -129.972307; duration = 410; initialDepth = 1692.869092; finalDepth = 1697.153310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.292741 # Actual altitude: 76.292741 # Commanded vehicle depth: 1697.15331 # Seafloor depth: -1773.446051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.676752 meters # Minimum depth: 1742.869092 meters looking forward 100.000000 meters along route # Maximum depth: 1747.743304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.869092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079951; longitude = -129.972950; duration = 410; initialDepth = 1690.899523; finalDepth = 1692.869092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.292741 # Actual altitude: 76.292741 # Commanded vehicle depth: 1692.869092 # Seafloor depth: -1745.716517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.677103 meters # Minimum depth: 1740.899523 meters looking forward 100.000000 meters along route # Maximum depth: 1746.075114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.899523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079142; longitude = -129.973594; duration = 410; initialDepth = 1698.765269; finalDepth = 1690.899523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.976087 # Actual altitude: 52.976087 # Commanded vehicle depth: 1690.899523 # Seafloor depth: -1743.875610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.677453 meters # Minimum depth: 1748.765269 meters looking forward 100.000000 meters along route # Maximum depth: 1767.988975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.765269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078334; longitude = -129.974237; duration = 410; initialDepth = 1703.139736; finalDepth = 1698.765269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.976087 # Actual altitude: 52.976087 # Commanded vehicle depth: 1698.765269 # Seafloor depth: -1748.765269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.677804 meters # Minimum depth: 1753.139736 meters looking forward 100.000000 meters along route # Maximum depth: 1766.344142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.139736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077526; longitude = -129.974881; duration = 410; initialDepth = 1704.348145; finalDepth = 1703.139736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2044059999998 # Actual altitude: 63.2044059999998 # Commanded vehicle depth: 1703.139736 # Seafloor depth: -1766.344142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.678154 meters # Minimum depth: 1754.348145 meters looking forward 100.000000 meters along route # Maximum depth: 1758.692702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.348145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076717; longitude = -129.975524; duration = 410; initialDepth = 1710.219917; finalDepth = 1704.348145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2044059999998 # Actual altitude: 63.2044059999998 # Commanded vehicle depth: 1704.348145 # Seafloor depth: -1754.348145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.678505 meters # Minimum depth: 1760.219917 meters looking forward 100.000000 meters along route # Maximum depth: 1763.436655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.219917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075909; longitude = -129.976167; duration = 410; initialDepth = 1708.470176; finalDepth = 1710.219917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.68533 # Actual altitude: 50.68533 # Commanded vehicle depth: 1710.219917 # Seafloor depth: -1760.905247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.678856 meters # Minimum depth: 1758.470176 meters looking forward 100.000000 meters along route # Maximum depth: 1760.237097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.470176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075101; longitude = -129.976811; duration = 410; initialDepth = 1707.116372; finalDepth = 1708.470176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7669209999999 # Actual altitude: 51.7669209999999 # Commanded vehicle depth: 1708.470176 # Seafloor depth: -1760.237097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.679206 meters # Minimum depth: 1757.116372 meters looking forward 100.000000 meters along route # Maximum depth: 1758.837803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.116372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074292; longitude = -129.977454; duration = 410; initialDepth = 1707.437155; finalDepth = 1707.116372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7669209999999 # Actual altitude: 51.7669209999999 # Commanded vehicle depth: 1707.116372 # Seafloor depth: -1758.711431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.679557 meters # Minimum depth: 1757.437155 meters looking forward 100.000000 meters along route # Maximum depth: 1758.694127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.437155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073484; longitude = -129.978098; duration = 410; initialDepth = 1706.373666; finalDepth = 1707.437155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.595059 # Actual altitude: 51.595059 # Commanded vehicle depth: 1707.437155 # Seafloor depth: -1757.437155 # 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 22 # Segment length 102.679908 meters # Minimum depth: 1756.373666 meters looking forward 100.000000 meters along route # Maximum depth: 1758.265656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.373666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072676; longitude = -129.978741; duration = 410; initialDepth = 1707.902959; finalDepth = 1706.373666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5704350000001 # Actual altitude: 51.5704350000001 # Commanded vehicle depth: 1706.373666 # Seafloor depth: -1757.944101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.680258 meters # Minimum depth: 1757.902959 meters looking forward 100.000000 meters along route # Maximum depth: 1759.397801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.902959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071867; longitude = -129.979385; duration = 410; initialDepth = 1709.612276; finalDepth = 1707.902959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5704350000001 # Actual altitude: 51.5704350000001 # Commanded vehicle depth: 1707.902959 # Seafloor depth: -1757.902959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.680608 meters # Minimum depth: 1759.612276 meters looking forward 100.000000 meters along route # Maximum depth: 1768.995555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.612276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071059; longitude = -129.980028; duration = 410; initialDepth = 1716.554222; finalDepth = 1709.612276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1709.612276 # Seafloor depth: -1759.612276 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.680960 meters # Minimum depth: 1766.554222 meters looking forward 100.000000 meters along route # Maximum depth: 1769.454406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.554222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070251; longitude = -129.980672; duration = 410; initialDepth = 1708.235839; finalDepth = 1716.554222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3645839999999 # Actual altitude: 52.3645839999999 # Commanded vehicle depth: 1716.554222 # Seafloor depth: -1768.918806 # 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 22 # Segment length 102.681310 meters # Minimum depth: 1758.235839 meters looking forward 100.000000 meters along route # Maximum depth: 1763.290632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.235839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069443; longitude = -129.981315; duration = 410; initialDepth = 1704.319458; finalDepth = 1708.235839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.054793 # Actual altitude: 55.054793 # Commanded vehicle depth: 1708.235839 # Seafloor depth: -1763.290632 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.681660 meters # Minimum depth: 1754.319458 meters looking forward 100.000000 meters along route # Maximum depth: 1758.490456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.319458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068634; longitude = -129.981958; duration = 410; initialDepth = 1687.517622; finalDepth = 1704.319458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.054793 # Actual altitude: 55.054793 # Commanded vehicle depth: 1704.319458 # Seafloor depth: -1758.212679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.682012 meters # Minimum depth: 1737.517622 meters looking forward 100.000000 meters along route # Maximum depth: 1753.129667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.517622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067826; longitude = -129.982602; duration = 410; initialDepth = 1682.034310; finalDepth = 1687.517622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6120449999999 # Actual altitude: 65.6120449999999 # Commanded vehicle depth: 1687.517622 # Seafloor depth: -1753.129667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.682362 meters # Minimum depth: 1732.034310 meters looking forward 100.000000 meters along route # Maximum depth: 1736.099829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.034310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067018; longitude = -129.983245; duration = 410; initialDepth = 1680.268711; finalDepth = 1682.034310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6120449999999 # Actual altitude: 65.6120449999999 # Commanded vehicle depth: 1682.03431 # Seafloor depth: -1736.099829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.682712 meters # Minimum depth: 1730.268711 meters looking forward 100.000000 meters along route # Maximum depth: 1733.712689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.268711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066209; longitude = -129.983889; duration = 410; initialDepth = 1680.698892; finalDepth = 1680.268711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.065519 # Actual altitude: 54.065519 # Commanded vehicle depth: 1680.268711 # Seafloor depth: -1732.905171 # 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 22 # Segment length 102.683064 meters # Minimum depth: 1730.698892 meters looking forward 100.000000 meters along route # Maximum depth: 1734.930155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.698892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065401; longitude = -129.984532; duration = 410; initialDepth = 1683.295773; finalDepth = 1680.698892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6364600000002 # Actual altitude: 52.6364600000002 # Commanded vehicle depth: 1680.698892 # Seafloor depth: -1731.671878 # 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 22 # Segment length 102.683414 meters # Minimum depth: 1733.295773 meters looking forward 100.000000 meters along route # Maximum depth: 1738.531757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.295773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064593; longitude = -129.985176; duration = 410; initialDepth = 1681.812981; finalDepth = 1683.295773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.038718 # Actual altitude: 52.038718 # Commanded vehicle depth: 1683.295773 # Seafloor depth: -1735.334491 # 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 22 # Segment length 102.683764 meters # Minimum depth: 1731.812981 meters looking forward 100.000000 meters along route # Maximum depth: 1736.573383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.812981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063784; longitude = -129.985819; duration = 410; initialDepth = 1673.958813; finalDepth = 1681.812981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.038718 # Actual altitude: 52.038718 # Commanded vehicle depth: 1681.812981 # Seafloor depth: -1732.406203 # 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 22 # Segment length 102.684116 meters # Minimum depth: 1723.958813 meters looking forward 100.000000 meters along route # Maximum depth: 1737.562647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.958813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062976; longitude = -129.986463; duration = 410; initialDepth = 1669.795651; finalDepth = 1673.958813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.603834 # Actual altitude: 63.603834 # Commanded vehicle depth: 1673.958813 # Seafloor depth: -1737.562647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.684466 meters # Minimum depth: 1719.795651 meters looking forward 100.000000 meters along route # Maximum depth: 1725.855912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.795651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062168; longitude = -129.987106; duration = 410; initialDepth = 1663.503358; finalDepth = 1669.795651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.603834 # Actual altitude: 63.603834 # Commanded vehicle depth: 1669.795651 # Seafloor depth: -1725.855912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.684816 meters # Minimum depth: 1713.503358 meters looking forward 100.000000 meters along route # Maximum depth: 1719.557124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.503358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061359; longitude = -129.987749; duration = 410; initialDepth = 1649.498375; finalDepth = 1663.503358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0602610000001 # Actual altitude: 56.0602610000001 # Commanded vehicle depth: 1663.503358 # Seafloor depth: -1719.055219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.685168 meters # Minimum depth: 1699.498375 meters looking forward 100.000000 meters along route # Maximum depth: 1712.476534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.498375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060551; longitude = -129.988393; duration = 410; initialDepth = 1642.746779; finalDepth = 1649.498375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.978159 # Actual altitude: 62.978159 # Commanded vehicle depth: 1649.498375 # Seafloor depth: -1712.476534 # 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 22 # Segment length 102.685518 meters # Minimum depth: 1692.746779 meters looking forward 100.000000 meters along route # Maximum depth: 1696.976347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.746779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059743; longitude = -129.989036; duration = 410; initialDepth = 1639.511867; finalDepth = 1642.746779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.978159 # Actual altitude: 62.978159 # Commanded vehicle depth: 1642.746779 # Seafloor depth: -1696.976347 # 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 22 # Segment length 102.685869 meters # Minimum depth: 1689.511867 meters looking forward 100.000000 meters along route # Maximum depth: 1693.878864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.511867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058935; longitude = -129.989680; duration = 410; initialDepth = 1636.710904; finalDepth = 1639.511867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.229568 # Actual altitude: 54.229568 # Commanded vehicle depth: 1639.511867 # Seafloor depth: -1693.682138 # 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 22 # Segment length 102.686220 meters # Minimum depth: 1686.710904 meters looking forward 100.000000 meters along route # Maximum depth: 1689.014390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.710904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058126; longitude = -129.990323; duration = 410; initialDepth = 1635.300243; finalDepth = 1636.710904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.170271 # Actual altitude: 54.170271 # Commanded vehicle depth: 1636.710904 # Seafloor depth: -1689.014390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.686570 meters # Minimum depth: 1685.300243 meters looking forward 100.000000 meters along route # Maximum depth: 1687.166649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.300243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057318; longitude = -129.990967; duration = 410; initialDepth = 1634.531029; finalDepth = 1635.300243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.303486 # Actual altitude: 52.303486 # Commanded vehicle depth: 1635.300243 # Seafloor depth: -1687.166649 # 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 22 # Segment length 102.686921 meters # Minimum depth: 1684.531029 meters looking forward 100.000000 meters along route # Maximum depth: 1685.430338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.531029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056510; longitude = -129.991610; duration = 410; initialDepth = 1633.080970; finalDepth = 1634.531029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8664060000001 # Actual altitude: 51.8664060000001 # Commanded vehicle depth: 1634.531029 # Seafloor depth: -1685.142224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.687272 meters # Minimum depth: 1683.080970 meters looking forward 100.000000 meters along route # Maximum depth: 1685.252139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.080970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055701; longitude = -129.992254; duration = 410; initialDepth = 1631.661100; finalDepth = 1633.080970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.918776 # Actual altitude: 51.918776 # Commanded vehicle depth: 1633.08097 # Seafloor depth: -1684.999746 # 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 22 # Segment length 102.687623 meters # Minimum depth: 1681.661100 meters looking forward 100.000000 meters along route # Maximum depth: 1685.537063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.661100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054893; longitude = -129.992897; duration = 410; initialDepth = 1630.731373; finalDepth = 1631.661100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.918776 # Actual altitude: 51.918776 # Commanded vehicle depth: 1631.6611 # Seafloor depth: -1681.661100 # 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 22 # Segment length 102.687973 meters # Minimum depth: 1680.731373 meters looking forward 100.000000 meters along route # Maximum depth: 1683.891140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.731373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054085; longitude = -129.993540; duration = 410; initialDepth = 1632.044803; finalDepth = 1630.731373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1597669999999 # Actual altitude: 53.1597669999999 # Commanded vehicle depth: 1630.731373 # Seafloor depth: -1683.891140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.688324 meters # Minimum depth: 1682.044803 meters looking forward 100.000000 meters along route # Maximum depth: 1685.009615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.044803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053276; longitude = -129.994184; duration = 410; initialDepth = 1632.028999; finalDepth = 1632.044803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1597669999999 # Actual altitude: 53.1597669999999 # Commanded vehicle depth: 1632.044803 # Seafloor depth: -1682.044803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 102.688675 meters # Minimum depth: 1682.028999 meters looking forward 100.000000 meters along route # Maximum depth: 1684.250407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.028999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052468; longitude = -129.994827; duration = 410; initialDepth = 1628.447089; finalDepth = 1632.028999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0181809999999 # Actual altitude: 52.0181809999999 # Commanded vehicle depth: 1632.028999 # Seafloor depth: -1684.047180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.176241 meters # Minimum depth: 1678.447089 meters looking forward 100.000000 meters along route # Maximum depth: 1683.129837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.447089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.051660; longitude = -129.995471; duration = 424; initialDepth = 1629.006805; finalDepth = 1628.447089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.758857 # Actual altitude: 53.758857 # Commanded vehicle depth: 1628.447089 # Seafloor depth: -1682.205946 # 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; } # ####################################################### # # 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 150.630615 meters # Minimum depth: 1679.006805 meters looking forward 100.000000 meters along route # Maximum depth: 1684.325839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.006805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.050824; longitude = -129.996136; duration = 602; # abortOnTimeout = True; initialDepth = 1622.784736; finalDepth = 1629.006805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.758857 # Actual altitude: 53.758857 # Commanded vehicle depth: 1629.006805 # Seafloor depth: -1679.006805 # 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; } # ####################################################### # # 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 157.072023 meters # Minimum depth: 1672.784736 meters looking forward 100.000000 meters along route # Maximum depth: 1683.724945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.784736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.051339; longitude = -129.997937; duration = 628; # abortOnTimeout = True; initialDepth = 1619.398205; finalDepth = 1622.784736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9402089999999 # Actual altitude: 60.9402089999999 # Commanded vehicle depth: 1622.784736 # Seafloor depth: -1683.724945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 102.462060 meters # Minimum depth: 1669.398205 meters looking forward 100.000000 meters along route # Maximum depth: 1682.069677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.398205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.052575; longitude = -129.996951; duration = 409; initialDepth = 1614.568758; finalDepth = 1619.398205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9402089999999 # Actual altitude: 60.9402089999999 # Commanded vehicle depth: 1619.398205 # Seafloor depth: -1674.728479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.461710 meters # Minimum depth: 1664.568758 meters looking forward 100.000000 meters along route # Maximum depth: 1681.611381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.568758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.053381; longitude = -129.996307; duration = 409; initialDepth = 1631.328345; finalDepth = 1614.568758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3302740000001 # Actual altitude: 55.3302740000001 # Commanded vehicle depth: 1614.568758 # Seafloor depth: -1669.237255 # 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 20 # Segment length 102.461360 meters # Minimum depth: 1681.328345 meters looking forward 100.000000 meters along route # Maximum depth: 1683.481875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.328345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054187; longitude = -129.995664; duration = 409; initialDepth = 1630.319655; finalDepth = 1631.328345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6684970000001 # Actual altitude: 54.6684970000001 # Commanded vehicle depth: 1631.328345 # Seafloor depth: -1682.019133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.461008 meters # Minimum depth: 1680.319655 meters looking forward 100.000000 meters along route # Maximum depth: 1683.517429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.319655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.054992; longitude = -129.995020; duration = 409; initialDepth = 1622.096328; finalDepth = 1630.319655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.197774 # Actual altitude: 53.197774 # Commanded vehicle depth: 1630.319655 # Seafloor depth: -1683.517429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.460659 meters # Minimum depth: 1672.096328 meters looking forward 100.000000 meters along route # Maximum depth: 1681.567626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.096328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.055798; longitude = -129.994377; duration = 409; initialDepth = 1619.328997; finalDepth = 1622.096328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4712979999999 # Actual altitude: 59.4712979999999 # Commanded vehicle depth: 1622.096328 # Seafloor depth: -1681.567626 # 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 20 # Segment length 102.460307 meters # Minimum depth: 1669.328997 meters looking forward 100.000000 meters along route # Maximum depth: 1677.475383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.328997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.056604; longitude = -129.993733; duration = 409; initialDepth = 1627.761982; finalDepth = 1619.328997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4712979999999 # Actual altitude: 59.4712979999999 # Commanded vehicle depth: 1619.328997 # Seafloor depth: -1676.408574 # 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 20 # Segment length 102.459957 meters # Minimum depth: 1677.761982 meters looking forward 100.000000 meters along route # Maximum depth: 1687.215348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.761982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.057410; longitude = -129.993090; duration = 409; initialDepth = 1637.715408; finalDepth = 1627.761982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.079577 # Actual altitude: 57.079577 # Commanded vehicle depth: 1627.761982 # Seafloor depth: -1677.761982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.459607 meters # Minimum depth: 1687.715408 meters looking forward 100.000000 meters along route # Maximum depth: 1690.374454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.715408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.058216; longitude = -129.992447; duration = 409; initialDepth = 1637.176887; finalDepth = 1637.715408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4758830000001 # Actual altitude: 50.4758830000001 # Commanded vehicle depth: 1637.715408 # Seafloor depth: -1688.191291 # 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 20 # Segment length 102.459256 meters # Minimum depth: 1687.176887 meters looking forward 100.000000 meters along route # Maximum depth: 1688.487712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.176887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059022; longitude = -129.991803; duration = 409; initialDepth = 1635.243135; finalDepth = 1637.176887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4758830000001 # Actual altitude: 50.4758830000001 # Commanded vehicle depth: 1637.176887 # Seafloor depth: -1687.280361 # 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 20 # Segment length 102.458905 meters # Minimum depth: 1685.243135 meters looking forward 100.000000 meters along route # Maximum depth: 1688.211766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.243135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.059828; longitude = -129.991160; duration = 409; initialDepth = 1636.802691; finalDepth = 1635.243135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.968631 # Actual altitude: 52.968631 # Commanded vehicle depth: 1635.243135 # Seafloor depth: -1688.211766 # 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 20 # Segment length 102.458555 meters # Minimum depth: 1686.802691 meters looking forward 100.000000 meters along route # Maximum depth: 1703.781431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.802691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.060634; longitude = -129.990516; duration = 409; initialDepth = 1657.546530; finalDepth = 1636.802691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.968631 # Actual altitude: 52.968631 # Commanded vehicle depth: 1636.802691 # Seafloor depth: -1686.802691 # 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 20 # Segment length 102.458204 meters # Minimum depth: 1707.546530 meters looking forward 100.000000 meters along route # Maximum depth: 1711.801907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.546530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.061440; longitude = -129.989873; duration = 409; initialDepth = 1659.441082; finalDepth = 1657.546530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1657.54653 # Seafloor depth: -1707.546530 # 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 102.457854 meters # Minimum depth: 1709.441082 meters looking forward 100.000000 meters along route # Maximum depth: 1728.628360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.441082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.062246; longitude = -129.989229; duration = 409; initialDepth = 1680.169972; finalDepth = 1659.441082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1659.441082 # Seafloor depth: -1709.441082 # 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 102.457503 meters # Minimum depth: 1730.169972 meters looking forward 100.000000 meters along route # Maximum depth: 1736.109139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.169972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063052; longitude = -129.988586; duration = 409; initialDepth = 1684.901917; finalDepth = 1680.169972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1680.169972 # Seafloor depth: -1730.169972 # 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 102.457153 meters # Minimum depth: 1734.901917 meters looking forward 100.000000 meters along route # Maximum depth: 1737.768860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.901917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.063858; longitude = -129.987942; duration = 409; initialDepth = 1688.083269; finalDepth = 1684.901917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.338156 # Actual altitude: 51.338156 # Commanded vehicle depth: 1684.901917 # Seafloor depth: -1736.240073 # 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 20 # Segment length 102.456802 meters # Minimum depth: 1738.083269 meters looking forward 100.000000 meters along route # Maximum depth: 1740.525931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.083269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.064664; longitude = -129.987299; duration = 409; initialDepth = 1689.683728; finalDepth = 1688.083269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.338156 # Actual altitude: 51.338156 # Commanded vehicle depth: 1688.083269 # Seafloor depth: -1738.178234 # 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 20 # Segment length 102.456452 meters # Minimum depth: 1739.683728 meters looking forward 100.000000 meters along route # Maximum depth: 1743.398792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.683728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.065470; longitude = -129.986656; duration = 409; initialDepth = 1692.911446; finalDepth = 1689.683728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2011709999999 # Actual altitude: 51.2011709999999 # Commanded vehicle depth: 1689.683728 # Seafloor depth: -1740.884899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.456101 meters # Minimum depth: 1742.911446 meters looking forward 100.000000 meters along route # Maximum depth: 1744.439795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.911446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.066276; longitude = -129.986012; duration = 409; initialDepth = 1694.414120; finalDepth = 1692.911446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2011709999999 # Actual altitude: 51.2011709999999 # Commanded vehicle depth: 1692.911446 # Seafloor depth: -1743.455976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.455751 meters # Minimum depth: 1744.414120 meters looking forward 100.000000 meters along route # Maximum depth: 1746.210164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.414120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067082; longitude = -129.985369; duration = 409; initialDepth = 1693.680230; finalDepth = 1694.414120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7960440000002 # Actual altitude: 51.7960440000002 # Commanded vehicle depth: 1694.41412 # Seafloor depth: -1746.210164 # 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 102.455400 meters # Minimum depth: 1743.680230 meters looking forward 100.000000 meters along route # Maximum depth: 1751.333570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.680230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.067888; longitude = -129.984725; duration = 409; initialDepth = 1700.972364; finalDepth = 1693.680230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7960440000002 # Actual altitude: 51.7960440000002 # Commanded vehicle depth: 1693.68023 # Seafloor depth: -1743.680230 # 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 102.455049 meters # Minimum depth: 1750.972364 meters looking forward 100.000000 meters along route # Maximum depth: 1758.861060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.972364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068694; longitude = -129.984082; duration = 409; initialDepth = 1711.915856; finalDepth = 1700.972364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.972364 # Seafloor depth: -1750.972364 # 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 102.454700 meters # Minimum depth: 1761.915856 meters looking forward 100.000000 meters along route # Maximum depth: 1766.334026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.915856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069500; longitude = -129.983438; duration = 409; initialDepth = 1715.641625; finalDepth = 1711.915856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5266369999999 # Actual altitude: 50.5266369999999 # Commanded vehicle depth: 1711.915856 # Seafloor depth: -1762.442493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.454349 meters # Minimum depth: 1765.641625 meters looking forward 100.000000 meters along route # Maximum depth: 1768.373422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.641625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070306; longitude = -129.982795; duration = 409; initialDepth = 1711.426510; finalDepth = 1715.641625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5266369999999 # Actual altitude: 50.5266369999999 # Commanded vehicle depth: 1715.641625 # Seafloor depth: -1765.905684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.453998 meters # Minimum depth: 1761.426510 meters looking forward 100.000000 meters along route # Maximum depth: 1767.794888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.426510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071112; longitude = -129.982151; duration = 409; initialDepth = 1707.926717; finalDepth = 1711.426510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3683779999999 # Actual altitude: 56.3683779999999 # Commanded vehicle depth: 1711.42651 # Seafloor depth: -1767.794888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.453648 meters # Minimum depth: 1757.926717 meters looking forward 100.000000 meters along route # Maximum depth: 1760.559727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.926717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071918; longitude = -129.981508; duration = 409; initialDepth = 1707.375349; finalDepth = 1707.926717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3683779999999 # Actual altitude: 56.3683779999999 # Commanded vehicle depth: 1707.926717 # Seafloor depth: -1760.559727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.453297 meters # Minimum depth: 1757.375349 meters looking forward 100.000000 meters along route # Maximum depth: 1759.169642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.375349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072724; longitude = -129.980865; duration = 409; initialDepth = 1707.400021; finalDepth = 1707.375349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.63301 # Actual altitude: 52.63301 # Commanded vehicle depth: 1707.375349 # Seafloor depth: -1758.296956 # 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 20 # Segment length 102.452947 meters # Minimum depth: 1757.400021 meters looking forward 100.000000 meters along route # Maximum depth: 1758.751104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.400021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073530; longitude = -129.980221; duration = 409; initialDepth = 1706.461943; finalDepth = 1707.400021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.921607 # Actual altitude: 50.921607 # Commanded vehicle depth: 1707.400021 # Seafloor depth: -1757.585521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.452597 meters # Minimum depth: 1756.461943 meters looking forward 100.000000 meters along route # Maximum depth: 1759.387572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.461943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074336; longitude = -129.979578; duration = 409; initialDepth = 1699.088910; finalDepth = 1706.461943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4276970000001 # Actual altitude: 51.4276970000001 # Commanded vehicle depth: 1706.461943 # Seafloor depth: -1757.889640 # 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 20 # Segment length 102.452246 meters # Minimum depth: 1749.088910 meters looking forward 100.000000 meters along route # Maximum depth: 1761.188421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.088910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075142; longitude = -129.978934; duration = 409; initialDepth = 1692.227363; finalDepth = 1699.088910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2718670000002 # Actual altitude: 61.2718670000002 # Commanded vehicle depth: 1699.08891 # Seafloor depth: -1760.360777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.451895 meters # Minimum depth: 1742.227363 meters looking forward 100.000000 meters along route # Maximum depth: 1747.297030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.227363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075948; longitude = -129.978291; duration = 409; initialDepth = 1692.731695; finalDepth = 1692.227363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2718670000002 # Actual altitude: 61.2718670000002 # Commanded vehicle depth: 1692.227363 # Seafloor depth: -1747.297030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.451546 meters # Minimum depth: 1742.731695 meters looking forward 100.000000 meters along route # Maximum depth: 1744.979852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.731695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076754; longitude = -129.977647; duration = 409; initialDepth = 1690.899758; finalDepth = 1692.731695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.069667 # Actual altitude: 55.069667 # Commanded vehicle depth: 1692.731695 # Seafloor depth: -1743.619320 # 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 20 # Segment length 102.451194 meters # Minimum depth: 1740.899758 meters looking forward 100.000000 meters along route # Maximum depth: 1746.269986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.899758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077560; longitude = -129.977004; duration = 409; initialDepth = 1698.121065; finalDepth = 1690.899758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.409768 # Actual altitude: 51.409768 # Commanded vehicle depth: 1690.899758 # Seafloor depth: -1742.309526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.450845 meters # Minimum depth: 1748.121065 meters looking forward 100.000000 meters along route # Maximum depth: 1754.068323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.121065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078366; longitude = -129.976360; duration = 409; initialDepth = 1690.516630; finalDepth = 1698.121065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.409768 # Actual altitude: 51.409768 # Commanded vehicle depth: 1698.121065 # Seafloor depth: -1748.121065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.450494 meters # Minimum depth: 1740.516630 meters looking forward 100.000000 meters along route # Maximum depth: 1748.526692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.516630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079172; longitude = -129.975717; duration = 409; initialDepth = 1692.418417; finalDepth = 1690.516630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0100619999998 # Actual altitude: 58.0100619999998 # Commanded vehicle depth: 1690.51663 # Seafloor depth: -1748.526692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.450143 meters # Minimum depth: 1742.418417 meters looking forward 100.000000 meters along route # Maximum depth: 1745.791622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.418417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079978; longitude = -129.975074; duration = 409; initialDepth = 1695.315505; finalDepth = 1692.418417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0100619999998 # Actual altitude: 58.0100619999998 # Commanded vehicle depth: 1692.418417 # Seafloor depth: -1742.575534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.449794 meters # Minimum depth: 1745.315505 meters looking forward 100.000000 meters along route # Maximum depth: 1750.602723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.315505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080784; longitude = -129.974430; duration = 409; initialDepth = 1702.704978; finalDepth = 1695.315505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.157117 # Actual altitude: 50.157117 # Commanded vehicle depth: 1695.315505 # Seafloor depth: -1745.315505 # 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 20 # Segment length 102.449442 meters # Minimum depth: 1752.704978 meters looking forward 100.000000 meters along route # Maximum depth: 1766.969179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.704978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081590; longitude = -129.973787; duration = 409; initialDepth = 1714.928752; finalDepth = 1702.704978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.704978 # Seafloor depth: -1752.704978 # 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 102.449093 meters # Minimum depth: 1764.928752 meters looking forward 100.000000 meters along route # Maximum depth: 1772.102864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.928752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082396; longitude = -129.973143; duration = 409; initialDepth = 1711.526453; finalDepth = 1714.928752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.264218 # Actual altitude: 50.264218 # Commanded vehicle depth: 1714.928752 # Seafloor depth: -1765.192970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 102.448742 meters # Minimum depth: 1761.526453 meters looking forward 100.000000 meters along route # Maximum depth: 1764.248805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.526453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083202; longitude = -129.972500; duration = 409; initialDepth = 1709.325263; finalDepth = 1711.526453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1366170000001 # Actual altitude: 52.1366170000001 # Commanded vehicle depth: 1711.526453 # Seafloor depth: -1763.663070 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.786973 meters # Minimum depth: 1759.325263 meters looking forward 100.000000 meters along route # Maximum depth: 1779.977232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.325263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084008; longitude = -129.971856; duration = 423; initialDepth = 1704.118165; finalDepth = 1709.325263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.44883 # Actual altitude: 52.44883 # Commanded vehicle depth: 1709.325263 # Seafloor depth: -1761.774093 # 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; } # ####################################################### # # 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 151.800159 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.693743 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.694445 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.695496 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: 1756.768117 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 18 # Segment length 102.695848 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: 1756.768117 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 18 # Segment length 102.696197 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: 1756.768117 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 18 # Segment length 102.696549 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.697249 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: 1756.768117 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 18 # Segment length 102.697601 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.698301 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: 1756.768117 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 18 # Segment length 102.698653 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.702159 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: 1756.768117 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 18 # Segment length 102.702511 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.703211 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: 1756.768117 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 18 # Segment length 102.703563 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.704264 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: 1756.768117 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 18 # Segment length 102.704615 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.705316 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: 1756.768117 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 18 # Segment length 102.705668 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # 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: 1756.768117 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 18 # Segment length 102.706719 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: 1756.768117 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 18 # Segment length 102.707071 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: 1756.768117 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 18 # 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: 1756.768117 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 17 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # Segment length 102.384183 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: 1756.768117 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 16 # Segment length 102.383834 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # Segment length 102.377874 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: 1756.768117 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 16 # Segment length 102.377524 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # Segment length 102.371216 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: 1756.768117 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 16 # Segment length 102.370867 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: 1756.768117 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 16 # 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: 1756.768117 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 16 # 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: 1756.768117 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 15 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.599737 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: 1756.768117 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 14 # Segment length 102.600089 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.601140 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: 1756.768117 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 14 # Segment length 102.601491 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: 1756.768117 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 14 # Segment length 102.601841 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: 1756.768117 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 14 # Segment length 102.602193 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.603945 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.604647 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: 1756.768117 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 14 # Segment length 102.604997 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.605699 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.607101 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: 1756.768117 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 14 # Segment length 102.607453 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 102.608153 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: 1756.768117 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 14 # Segment length 102.608505 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # 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: 1756.768117 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 14 # Segment length 109.447259 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: 1756.768117 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 13 # 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: 1756.768117 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 12 # Segment length 116.124122 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # Segment length 102.443313 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: 1756.768117 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 12 # Segment length 102.442964 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # Segment length 102.441911 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: 1756.768117 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 12 # Segment length 102.441561 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: 1756.768117 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 12 # Segment length 102.441210 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: 1756.768117 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 12 # Segment length 102.440860 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # Segment length 102.438405 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: 1756.768117 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 12 # Segment length 102.438055 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: 1756.768117 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 12 # Segment length 102.437704 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: 1756.768117 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 12 # Segment length 102.437354 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: 1756.768117 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 12 # Segment length 102.437003 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: 1756.768117 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 12 # Segment length 102.436653 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # Segment length 102.432446 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: 1756.768117 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 12 # Segment length 102.432097 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: 1756.768117 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 12 # Segment length 102.431745 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: 1756.768117 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 12 # Segment length 102.431396 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: 1756.768117 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 12 # Segment length 102.431044 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: 1756.768117 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 12 # Segment length 102.430695 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: 1756.768117 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 12 # 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: 1756.768117 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 12 # 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: 1756.768117 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 11 # Segment length 147.129070 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.254040 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.255440 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.256142 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: 1756.768117 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 10 # Segment length 102.256491 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.257193 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.258593 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.259295 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.261747 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: 1756.768117 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 10 # Segment length 102.262098 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: 1756.768117 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 10 # Segment length 102.262448 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: 1756.768117 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 10 # Segment length 102.262799 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.264901 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: 1756.768117 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 10 # Segment length 102.265252 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.265952 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: 1756.768117 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 10 # Segment length 102.266304 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.267705 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: 1756.768117 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 10 # 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: 1756.768117 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 10 # Segment length 102.268407 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: 1756.768117 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 10 # 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: 1756.768117 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 9 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.226389 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.225689 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.224286 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: 1756.768117 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 8 # Segment length 102.223937 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: 1756.768117 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 8 # Segment length 102.223585 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: 1756.768117 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 8 # Segment length 102.223236 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.220081 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: 1756.768117 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 8 # Segment length 102.219732 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.219030 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: 1756.768117 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 8 # Segment length 102.218681 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.217629 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.216929 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # 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: 1756.768117 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 8 # Segment length 102.214476 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: 1756.768117 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 8 # 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: 1756.768117 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 7 # 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: 1756.768117 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 6 # Segment length 85.182012 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: 1756.768117 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 6 # Segment length 102.123989 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.124691 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: 1756.768117 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 6 # Segment length 102.125040 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: 1756.768117 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 6 # Segment length 102.125391 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.126091 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: 1756.768117 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 6 # Segment length 102.126442 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.127842 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.128544 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.129944 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: 1756.768117 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 6 # Segment length 102.130295 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.131345 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.132047 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.133097 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.133799 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: 1756.768117 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 6 # Segment length 102.134148 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.134850 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.138003 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: 1756.768117 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 6 # 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: 1756.768117 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 6 # Segment length 102.189906 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: 1756.768117 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 5 # 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: 1756.768117 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 4 # Segment length 75.062151 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: 1756.768117 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 4 # Segment length 102.373025 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.371972 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.371272 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.370219 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: 1756.768117 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 4 # Segment length 102.369869 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.369167 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: 1756.768117 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 4 # Segment length 102.368817 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: 1756.768117 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 4 # Segment length 102.368466 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: 1756.768117 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 4 # Segment length 102.368116 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.367414 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: 1756.768117 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 4 # Segment length 102.367064 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: 1756.768117 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 4 # Segment length 102.366713 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: 1756.768117 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 4 # Segment length 102.366363 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.363558 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: 1756.768117 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 4 # Segment length 102.363208 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: 1756.768117 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 4 # Segment length 102.362857 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: 1756.768117 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 4 # Segment length 102.362507 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: 1756.768117 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 4 # Segment length 102.362156 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: 1756.768117 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 4 # Segment length 102.361806 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: 1756.768117 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 4 # Segment length 102.361455 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: 1756.768117 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 4 # Segment length 102.361105 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: 1756.768117 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 4 # Segment length 102.360754 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: 1756.768117 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 4 # Segment length 102.360404 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.359702 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: 1756.768117 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 4 # Segment length 102.359353 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: 1756.768117 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 4 # 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: 1756.768117 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 4 # Segment length 102.358651 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: 1756.768117 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 4 # Segment length 105.736698 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: 1756.768117 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 3 # 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: 1756.768117 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 = 1688.130076; 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 2 # Segment length 170.572022 meters # Minimum depth: 1738.130076 meters looking forward 100.000000 meters along route # Maximum depth: 1742.922882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.130076 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 = 1687.849936; finalDepth = 1688.130076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7928060000002 # Actual altitude: 54.7928060000002 # Commanded vehicle depth: 1688.130076 # 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 2 # Segment length 102.378735 meters # Minimum depth: 1737.849936 meters looking forward 100.000000 meters along route # Maximum depth: 1740.436554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.849936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089375; longitude = -129.987492; duration = 409; initialDepth = 1674.907792; finalDepth = 1687.849936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7928060000002 # Actual altitude: 54.7928060000002 # Commanded vehicle depth: 1687.849936 # Seafloor depth: -1738.516052 # 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 2 # Segment length 102.379086 meters # Minimum depth: 1724.907792 meters looking forward 100.000000 meters along route # Maximum depth: 1737.024887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.907792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088570; longitude = -129.988135; duration = 409; initialDepth = 1676.543452; finalDepth = 1674.907792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1170950000001 # Actual altitude: 62.1170950000001 # Commanded vehicle depth: 1674.907792 # Seafloor depth: -1737.024887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.379436 meters # Minimum depth: 1726.543452 meters looking forward 100.000000 meters along route # Maximum depth: 1735.923935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.543452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087765; longitude = -129.988779; duration = 409; initialDepth = 1685.602217; finalDepth = 1676.543452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1170950000001 # Actual altitude: 62.1170950000001 # Commanded vehicle depth: 1676.543452 # Seafloor depth: -1726.543452 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.379787 meters # Minimum depth: 1735.602217 meters looking forward 100.000000 meters along route # Maximum depth: 1741.980069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.602217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086959; longitude = -129.989422; duration = 409; initialDepth = 1689.150900; finalDepth = 1685.602217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5131239999998 # Actual altitude: 51.5131239999998 # Commanded vehicle depth: 1685.602217 # Seafloor depth: -1737.115341 # 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 2 # Segment length 102.380137 meters # Minimum depth: 1739.150900 meters looking forward 100.000000 meters along route # Maximum depth: 1744.973219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.150900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086154; longitude = -129.990066; duration = 409; initialDepth = 1684.064935; finalDepth = 1689.150900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6212489999998 # Actual altitude: 51.6212489999998 # Commanded vehicle depth: 1689.1509 # Seafloor depth: -1740.772149 # 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 2 # Segment length 102.380488 meters # Minimum depth: 1734.064935 meters looking forward 100.000000 meters along route # Maximum depth: 1747.031163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.064935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085349; longitude = -129.990709; duration = 409; initialDepth = 1690.093772; finalDepth = 1684.064935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3590099999999 # Actual altitude: 61.3590099999999 # Commanded vehicle depth: 1684.064935 # Seafloor depth: -1745.423945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.380838 meters # Minimum depth: 1740.093772 meters looking forward 100.000000 meters along route # Maximum depth: 1742.907689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.093772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084544; longitude = -129.991353; duration = 409; initialDepth = 1682.296147; finalDepth = 1690.093772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3590099999999 # Actual altitude: 61.3590099999999 # Commanded vehicle depth: 1690.093772 # Seafloor depth: -1742.907689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.381189 meters # Minimum depth: 1732.296147 meters looking forward 100.000000 meters along route # Maximum depth: 1740.067356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.296147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083738; longitude = -129.991996; duration = 409; initialDepth = 1682.748462; finalDepth = 1682.296147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.12175 # Actual altitude: 57.12175 # Commanded vehicle depth: 1682.296147 # Seafloor depth: -1739.417897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.222344 meters # Minimum depth: 1732.748462 meters looking forward 100.000000 meters along route # Maximum depth: 1736.663153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.748462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082933; longitude = -129.992640; duration = 436; initialDepth = 1681.182001; finalDepth = 1682.748462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.12175 # Actual altitude: 57.12175 # Commanded vehicle depth: 1682.748462 # Seafloor depth: -1733.878970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 84.517087 meters # Minimum depth: 1731.182001 meters looking forward 100.000000 meters along route # Maximum depth: 1736.317006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.182001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082074; longitude = -129.993326; duration = 338; # abortOnTimeout = True; initialDepth = 1678.958151; finalDepth = 1681.182001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8211120000001 # Actual altitude: 54.8211120000001 # Commanded vehicle depth: 1681.182001 # Seafloor depth: -1736.003113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.411646 meters # Minimum depth: 1728.958151 meters looking forward 100.000000 meters along route # Maximum depth: 1733.432774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.958151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081927; longitude = -129.992254; duration = 405; initialDepth = 1679.221921; finalDepth = 1678.958151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8211120000001 # Actual altitude: 54.8211120000001 # Commanded vehicle depth: 1678.958151 # Seafloor depth: -1731.680849 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.411938 meters # Minimum depth: 1729.221921 meters looking forward 100.000000 meters along route # Maximum depth: 1732.809675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.221921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081751; longitude = -129.990967; duration = 405; initialDepth = 1681.725065; finalDepth = 1679.221921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.722698 # Actual altitude: 52.722698 # Commanded vehicle depth: 1679.221921 # Seafloor depth: -1730.442668 # 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 1 # Segment length 101.412229 meters # Minimum depth: 1731.725065 meters looking forward 100.000000 meters along route # Maximum depth: 1736.143840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.725065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081575; longitude = -129.989680; duration = 405; initialDepth = 1679.075138; finalDepth = 1681.725065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2207469999998 # Actual altitude: 51.2207469999998 # Commanded vehicle depth: 1681.725065 # Seafloor depth: -1732.401844 # 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 1 # Segment length 101.412521 meters # Minimum depth: 1729.075138 meters looking forward 100.000000 meters along route # Maximum depth: 1734.545179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.075138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081399; longitude = -129.988393; duration = 405; initialDepth = 1679.836822; finalDepth = 1679.075138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9543840000001 # Actual altitude: 52.9543840000001 # Commanded vehicle depth: 1679.075138 # Seafloor depth: -1732.029522 # 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 1 # Segment length 103.074617 meters # Minimum depth: 1729.836822 meters looking forward 100.000000 meters along route # Maximum depth: 1736.619136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1756.768117 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.836822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081223; longitude = -129.987106; duration = 412; initialDepth = 1679.836822; finalDepth = 1679.836822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.9543840000001 # Actual altitude: 52.9543840000001 # Commanded vehicle depth: 1679.836822 # Seafloor depth: -1730.135092 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7817689999999 # Sonar parameter altitude: 50.7817689999999 # Commanded vehicle depth: 1679.836822 # Seafloor depth: -1730.618591 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 33; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 103.074617 meters # Minimum depth: 1729.836822 meters looking forward 100.000000 meters along route # Maximum depth: 1736.619136 meters looking forward 100.000000 meters along route # Vehicle depth: 1679.836822 meters behavior waypoint { latitude = 46.081044; longitude = -129.985798; duration = 3359; depth = 1679.836822; 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 1679.836822 meters set by local depth and desired altitude behavior descend { duration = 6222; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1670.618591; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 103.074617 meters # Minimum depth: 1729.836822 meters looking forward 100.000000 meters along route # Maximum depth: 1736.619136 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 46.081044; longitude = -129.985798; 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 = 330.0; 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 = 330.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################