# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # : mbm_route2mission 2270 2016-03-25 02:15:32Z caress r # # Mission Summary: # Route File: 6A_AxialMidNrift_3v3.rte # Mission File: 6A_AxialMidNrift_3v3.cfg # Distance: 38111.903684 (m) # Estimated Time: 28175 (s) 7.827 (hr) # Abort Time: 36628 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 2826 (s) # Way Points: 32 # Route Points: 367 # 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: 1968.298487 (m) # Abort Vehicle Depth: 1993.298487 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1676.70638 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 -129.990283 46.067808 -1736.706380 0.000000 3 # 1 -129.976756 46.084507 -1726.955404 2130.000687 3 # 2 -129.975138 46.085478 -1747.612956 2295.192792 3 # 3 -129.944805 46.122930 -1860.717102 7071.759023 3 # 4 -129.943231 46.122304 -1882.077911 7211.862987 3 # 5 -129.973542 46.085003 -1746.788391 11972.932892 3 # 6 -129.971838 46.084313 -1760.027130 12125.369858 3 # 7 -129.941418 46.121592 -1839.219116 16888.478122 3 # 8 -129.945431 46.124375 -1857.024292 17326.392743 3 # 9 -129.932832 46.136522 -1868.451721 18990.473880 3 # 10 -129.933522 46.138291 -1881.587708 19194.137195 3 # 11 -129.906727 46.164503 -1993.901978 22766.955416 3 # 12 -129.916041 46.162095 -1905.550456 23534.270476 3 # 13 -129.925116 46.162545 -1902.892578 24236.672689 3 # 14 -129.932185 46.161698 -1900.210938 24790.532665 3 # 15 -129.928409 46.165280 -1895.965169 25283.815202 3 # 16 -129.926856 46.164438 -1906.717773 25435.878810 3 # 17 -129.935464 46.156154 -1837.331868 26571.287263 3 # 18 -129.934040 46.152918 -1855.250651 26947.307365 3 # 19 -129.946143 46.141138 -1818.272624 28555.698255 3 # 20 -129.947826 46.141980 -1821.626628 28715.806448 3 # 21 -129.944396 46.145345 -1832.597656 29174.114556 3 # 22 -129.944849 46.140038 -1812.619466 29764.870508 3 # 23 -129.932422 46.152141 -1840.782064 31417.057983 3 # 24 -129.931861 46.150372 -1838.316406 31618.347108 3 # 25 -129.946467 46.136155 -1832.261882 33559.552624 3 # 26 -129.945043 46.135313 -1844.312337 33703.909468 3 # 27 -129.927201 46.152573 -1932.153320 36065.441721 3 # 28 -129.925691 46.151688 -1911.996582 36217.957639 3 # 29 -129.931840 46.145604 -1893.015625 37044.084053 3 # 30 -129.930372 46.144871 -1876.961589 37183.659153 3 # 31 -129.923383 46.151666 -1904.524577 38111.903684 3 # # A total of 367 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 36628; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1968.298487; abortDepth = 1993.298487; 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 = 2826; 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 31 # Segment length 109.029887 meters # Minimum depth: 1884.232090 meters looking forward 100.000000 meters along route # Maximum depth: 1904.798394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.232090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151666; longitude = -129.923383; duration = 436; # abortOnTimeout = True; initialDepth = 1772.348063; finalDepth = 1834.232090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2924869999999 # Actual altitude: 70.2924869999999 # Commanded vehicle depth: 1834.23209 # Seafloor depth: -1904.524577 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.108242 meters # Minimum depth: 1822.348063 meters looking forward 100.000000 meters along route # Maximum depth: 1885.016121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.348063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150868; longitude = -129.924204; duration = 400; initialDepth = 1745.071949; finalDepth = 1772.348063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.668058 # Actual altitude: 100 # Commanded vehicle depth: 1772.348063 # Seafloor depth: -1885.016121 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.219192 meters # Minimum depth: 1795.071949 meters looking forward 100.000000 meters along route # Maximum depth: 1821.003714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.071949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150135; longitude = -129.924957; duration = 412; initialDepth = 1755.524741; finalDepth = 1745.071949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.668058 # Actual altitude: 100 # Commanded vehicle depth: 1745.071949 # Seafloor depth: -1821.003714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.084617 meters # Minimum depth: 1805.524741 meters looking forward 100.000000 meters along route # Maximum depth: 1830.453868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.524741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149380; longitude = -129.925735; duration = 424; initialDepth = 1777.939589; finalDepth = 1755.524741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.931765 # Actual altitude: 75.931765 # Commanded vehicle depth: 1755.524741 # Seafloor depth: -1805.524741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.109637 meters # Minimum depth: 1827.939589 meters looking forward 100.000000 meters along route # Maximum depth: 1841.712965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.939589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148603; longitude = -129.926534; duration = 400; initialDepth = 1760.813073; finalDepth = 1777.939589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1846149999999 # Actual altitude: 54.1846149999999 # Commanded vehicle depth: 1777.939589 # Seafloor depth: -1832.124204 # 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 31 # Segment length 103.220630 meters # Minimum depth: 1810.813073 meters looking forward 100.000000 meters along route # Maximum depth: 1840.980708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.813073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147870; longitude = -129.927287; duration = 412; initialDepth = 1762.836476; finalDepth = 1760.813073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.971943 # Actual altitude: 77.971943 # Commanded vehicle depth: 1760.813073 # Seafloor depth: -1838.785016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.086096 meters # Minimum depth: 1812.836476 meters looking forward 100.000000 meters along route # Maximum depth: 1845.242204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.836476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147114; longitude = -129.928065; duration = 424; initialDepth = 1791.512972; finalDepth = 1762.836476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.971943 # Actual altitude: 77.971943 # Commanded vehicle depth: 1762.836476 # Seafloor depth: -1812.836476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.111032 meters # Minimum depth: 1841.512972 meters looking forward 100.000000 meters along route # Maximum depth: 1892.892305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.512972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146338; longitude = -129.928864; duration = 400; initialDepth = 1827.685456; finalDepth = 1791.512972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1791.512972 # Seafloor depth: -1841.512972 # 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 31 # Segment length 100.275198 meters # Minimum depth: 1877.685456 meters looking forward 100.000000 meters along route # Maximum depth: 1900.373367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.685456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145605; longitude = -129.929617; duration = 401; initialDepth = 1826.961589; finalDepth = 1827.685456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.491227 # Actual altitude: 66.491227 # Commanded vehicle depth: 1827.685456 # Seafloor depth: -1894.176683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 139.575100 meters # Minimum depth: 1876.961589 meters looking forward 100.000000 meters along route # Maximum depth: 1895.649414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.961589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144871; longitude = -129.930372; duration = 558; # abortOnTimeout = True; initialDepth = 1811.046256; finalDepth = 1826.961589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.491227 # Actual altitude: 66.491227 # Commanded vehicle depth: 1826.961589 # Seafloor depth: -1876.961589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 99.605494 meters # Minimum depth: 1861.046256 meters looking forward 100.000000 meters along route # Maximum depth: 1897.327956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.046256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145604; longitude = -129.931840; duration = 398; # abortOnTimeout = True; initialDepth = 1740.370156; finalDepth = 1811.046256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9693689999999 # Actual altitude: 81.9693689999999 # Commanded vehicle depth: 1811.046256 # Seafloor depth: -1893.015625 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 105.464162 meters # Minimum depth: 1790.370156 meters looking forward 100.000000 meters along route # Maximum depth: 1860.449395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.370156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146338; longitude = -129.931098; duration = 421; initialDepth = 1692.771146; finalDepth = 1740.370156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.079239 # Actual altitude: 100 # Commanded vehicle depth: 1740.370156 # Seafloor depth: -1860.449395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.463671 meters # Minimum depth: 1742.771146 meters looking forward 100.000000 meters along route # Maximum depth: 1790.313882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.771146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147114; longitude = -129.930313; duration = 421; initialDepth = 1705.091845; finalDepth = 1692.771146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.079239 # Actual altitude: 100 # Commanded vehicle depth: 1692.771146 # Seafloor depth: -1790.313882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.084308 meters # Minimum depth: 1755.091845 meters looking forward 100.000000 meters along route # Maximum depth: 1794.346638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.091845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147891; longitude = -129.929528; duration = 404; initialDepth = 1711.273388; finalDepth = 1705.091845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5427359999999 # Actual altitude: 97.5427359999999 # Commanded vehicle depth: 1705.091845 # Seafloor depth: -1755.091845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.352576 meters # Minimum depth: 1761.273388 meters looking forward 100.000000 meters along route # Maximum depth: 1787.392812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.273388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148635; longitude = -129.928776; duration = 417; initialDepth = 1738.867570; finalDepth = 1711.273388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.7753739999998 # Actual altitude: 68.7753739999998 # Commanded vehicle depth: 1711.273388 # Seafloor depth: -1780.048762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.352094 meters # Minimum depth: 1788.867570 meters looking forward 100.000000 meters along route # Maximum depth: 1843.011632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.867570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149404; longitude = -129.927999; duration = 417; initialDepth = 1776.848625; finalDepth = 1738.867570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.7753739999998 # Actual altitude: 68.7753739999998 # Commanded vehicle depth: 1738.86757 # Seafloor depth: -1788.867570 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.351613 meters # Minimum depth: 1843.594533 meters looking forward 100.000000 meters along route # Maximum depth: 1879.125250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.848625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150172; longitude = -129.927223; duration = 417; initialDepth = 1814.829506; finalDepth = 1776.848625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7459076043208 # Actual altitude: 66.7459076043208 # Commanded vehicle depth: 1776.84862539568 # Seafloor depth: -1843.594533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.452496 meters # Minimum depth: 1878.967900 meters looking forward 100.000000 meters along route # Maximum depth: 1912.283283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.829506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150941; longitude = -129.926446; duration = 405; initialDepth = 1851.755194; finalDepth = 1814.829506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.7459076043208 # Actual altitude: 66.7459076043208 # Commanded vehicle depth: 1814.82950572168 # Seafloor depth: -1878.967900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 152.515918 meters # Minimum depth: 1911.996582 meters looking forward 100.000000 meters along route # Maximum depth: 1930.922762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.755194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151688; longitude = -129.925691; duration = 610; # abortOnTimeout = True; initialDepth = 1853.791510; finalDepth = 1851.755194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.138394278322 # Actual altitude: 64.138394278322 # Commanded vehicle depth: 1851.75519377357 # Seafloor depth: -1911.996582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 97.083412 meters # Minimum depth: 1903.791510 meters looking forward 100.000000 meters along route # Maximum depth: 1932.153320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.791510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152573; longitude = -129.927201; duration = 388; # abortOnTimeout = True; initialDepth = 1805.735481; finalDepth = 1853.791510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.3618099999999 # Actual altitude: 78.3618099999999 # Commanded vehicle depth: 1853.79151 # Seafloor depth: -1932.153320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.794666 meters # Minimum depth: 1855.735481 meters looking forward 100.000000 meters along route # Maximum depth: 1900.190653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.735481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151863; longitude = -129.927935; duration = 411; initialDepth = 1748.893162; finalDepth = 1805.735481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.4244100000001 # Actual altitude: 93.4244100000001 # Commanded vehicle depth: 1805.735481 # Seafloor depth: -1899.159891 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.155042 meters # Minimum depth: 1798.893162 meters looking forward 100.000000 meters along route # Maximum depth: 1853.365635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.893162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151112; longitude = -129.928711; duration = 416; initialDepth = 1714.533337; finalDepth = 1748.893162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.472473 # Actual altitude: 100 # Commanded vehicle depth: 1748.893162 # Seafloor depth: -1853.365635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.435725 meters # Minimum depth: 1764.533337 meters looking forward 100.000000 meters along route # Maximum depth: 1798.546855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.533337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150350; longitude = -129.929498; duration = 405; initialDepth = 1721.482023; finalDepth = 1714.533337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.472473 # Actual altitude: 100 # Commanded vehicle depth: 1714.533337 # Seafloor depth: -1798.546855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.796101 meters # Minimum depth: 1771.482023 meters looking forward 100.000000 meters along route # Maximum depth: 1795.658041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.482023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149609; longitude = -129.930265; duration = 411; initialDepth = 1744.560364; finalDepth = 1721.482023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.013518 # Actual altitude: 84.013518 # Commanded vehicle depth: 1721.482023 # Seafloor depth: -1774.096762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 50.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.796579 meters # Minimum depth: 1794.560364 meters looking forward 100.000000 meters along route # Maximum depth: 1804.133360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.560364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148858; longitude = -129.931041; duration = 411; initialDepth = 1751.216495; finalDepth = 1744.560364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6147389999999 # Actual altitude: 52.6147389999999 # Commanded vehicle depth: 1744.560364 # Seafloor depth: -1795.846916 # 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 27 # Segment length 102.797058 meters # Minimum depth: 1801.216495 meters looking forward 100.000000 meters along route # Maximum depth: 1848.388194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.216495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148106; longitude = -129.931818; duration = 411; initialDepth = 1788.631564; finalDepth = 1751.216495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.286552 # Actual altitude: 51.286552 # Commanded vehicle depth: 1751.216495 # Seafloor depth: -1801.216495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.793389 meters # Minimum depth: 1843.245248 meters looking forward 100.000000 meters along route # Maximum depth: 1869.556839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.631564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147355; longitude = -129.932595; duration = 415; initialDepth = 1811.542604; finalDepth = 1788.631564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0715474110491 # Actual altitude: 55.0715474110491 # Commanded vehicle depth: 1788.63156358895 # Seafloor depth: -1843.703111 # 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 27 # Segment length 101.802161 meters # Minimum depth: 1861.542604 meters looking forward 100.000000 meters along route # Maximum depth: 1872.496985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.542604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146597; longitude = -129.933379; duration = 407; initialDepth = 1797.250351; finalDepth = 1811.542604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3627859999999 # Actual altitude: 57.3627859999999 # Commanded vehicle depth: 1811.542604 # Seafloor depth: -1868.905390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.798492 meters # Minimum depth: 1847.250351 meters looking forward 100.000000 meters along route # Maximum depth: 1863.371985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.250351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145853; longitude = -129.934148; duration = 411; initialDepth = 1767.338996; finalDepth = 1797.250351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.988814 # Actual altitude: 63.988814 # Commanded vehicle depth: 1797.250351 # Seafloor depth: -1861.239165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.347535 meters # Minimum depth: 1817.338996 meters looking forward 100.000000 meters along route # Maximum depth: 1854.073310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.338996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145101; longitude = -129.934925; duration = 421; initialDepth = 1753.384212; finalDepth = 1767.338996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.8203880000001 # Actual altitude: 85.8203880000001 # Commanded vehicle depth: 1767.338996 # Seafloor depth: -1853.159384 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.250885 meters # Minimum depth: 1803.384212 meters looking forward 100.000000 meters along route # Maximum depth: 1817.594804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.384212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144331; longitude = -129.935720; duration = 401; initialDepth = 1750.218789; finalDepth = 1753.384212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.8203880000001 # Actual altitude: 85.8203880000001 # Commanded vehicle depth: 1753.384212 # Seafloor depth: -1817.317628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.431721 meters # Minimum depth: 1800.218789 meters looking forward 100.000000 meters along route # Maximum depth: 1817.841650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.218789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143599; longitude = -129.936478; duration = 413; initialDepth = 1752.435391; finalDepth = 1750.218789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9334160000001 # Actual altitude: 63.9334160000001 # Commanded vehicle depth: 1750.218789 # Seafloor depth: -1810.006093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.168613 meters # Minimum depth: 1802.435391 meters looking forward 100.000000 meters along route # Maximum depth: 1820.323399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.435391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142843; longitude = -129.937259; duration = 408; initialDepth = 1737.915769; finalDepth = 1752.435391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.384693 # Actual altitude: 65.384693 # Commanded vehicle depth: 1752.435391 # Seafloor depth: -1817.820084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.800884 meters # Minimum depth: 1787.915769 meters looking forward 100.000000 meters along route # Maximum depth: 1814.134601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.915769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142096; longitude = -129.938031; duration = 411; initialDepth = 1735.622441; finalDepth = 1737.915769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4935620000001 # Actual altitude: 65.4935620000001 # Commanded vehicle depth: 1737.915769 # Seafloor depth: -1803.409331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.985897 meters # Minimum depth: 1785.622441 meters looking forward 100.000000 meters along route # Maximum depth: 1816.906361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.622441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141345; longitude = -129.938808; duration = 419; initialDepth = 1721.619548; finalDepth = 1735.622441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5470540000001 # Actual altitude: 78.5470540000001 # Commanded vehicle depth: 1735.622441 # Seafloor depth: -1814.169495 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.617307 meters # Minimum depth: 1771.619548 meters looking forward 100.000000 meters along route # Maximum depth: 1789.686308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.619548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140577; longitude = -129.939601; duration = 402; initialDepth = 1739.314059; finalDepth = 1721.619548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5470540000001 # Actual altitude: 78.5470540000001 # Commanded vehicle depth: 1721.619548 # Seafloor depth: -1785.019870 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.070034 meters # Minimum depth: 1789.314059 meters looking forward 100.000000 meters along route # Maximum depth: 1849.994810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.314059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139842; longitude = -129.940361; duration = 412; initialDepth = 1776.828483; finalDepth = 1739.314059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4003220000002 # Actual altitude: 63.4003220000002 # Commanded vehicle depth: 1739.314059 # Seafloor depth: -1789.314059 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.535083 meters # Minimum depth: 1839.988586 meters looking forward 100.000000 meters along route # Maximum depth: 1848.770963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.828483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139089; longitude = -129.941140; duration = 410; initialDepth = 1790.407659; finalDepth = 1776.828483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1601032742178 # Actual altitude: 63.1601032742178 # Commanded vehicle depth: 1776.82848272578 # Seafloor depth: -1839.988586 # 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 27 # Segment length 102.803277 meters # Minimum depth: 1840.407659 meters looking forward 100.000000 meters along route # Maximum depth: 1850.925689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.407659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138339; longitude = -129.941915; duration = 411; initialDepth = 1790.514751; finalDepth = 1790.407659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1601032742178 # Actual altitude: 63.1601032742178 # Commanded vehicle depth: 1790.407659 # Seafloor depth: -1848.646389 # 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 27 # Segment length 104.624242 meters # Minimum depth: 1840.514751 meters looking forward 100.000000 meters along route # Maximum depth: 1863.102305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.514751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137588; longitude = -129.942691; duration = 418; initialDepth = 1789.338353; finalDepth = 1790.514751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.23873 # Actual altitude: 58.23873 # Commanded vehicle depth: 1790.514751 # Seafloor depth: -1842.273941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.273893 meters # Minimum depth: 1839.338353 meters looking forward 100.000000 meters along route # Maximum depth: 1862.894196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.338353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136824; longitude = -129.943482; duration = 425; initialDepth = 1794.374326; finalDepth = 1789.338353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.321551 # Actual altitude: 67.321551 # Commanded vehicle depth: 1789.338353 # Seafloor depth: -1856.659904 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.370257 meters # Minimum depth: 1844.374326 meters looking forward 100.000000 meters along route # Maximum depth: 1850.981797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.374326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136047; longitude = -129.944284; duration = 401; initialDepth = 1782.210666; finalDepth = 1794.374326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.321551 # Actual altitude: 67.321551 # Commanded vehicle depth: 1794.374326 # Seafloor depth: -1846.357713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 144.356844 meters # Minimum depth: 1832.210666 meters looking forward 100.000000 meters along route # Maximum depth: 1844.347039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.210666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135313; longitude = -129.945043; duration = 577; # abortOnTimeout = True; initialDepth = 1775.057918; finalDepth = 1782.210666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.1016710000001 # Actual altitude: 62.1016710000001 # Commanded vehicle depth: 1782.210666 # Seafloor depth: -1844.312337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.26; 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 25 # Segment length 91.319992 meters # Minimum depth: 1825.057918 meters looking forward 100.000000 meters along route # Maximum depth: 1832.336124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.057918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136155; longitude = -129.946467; duration = 365; # abortOnTimeout = True; initialDepth = 1771.487268; finalDepth = 1775.057918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.1016710000001 # Actual altitude: 62.1016710000001 # Commanded vehicle depth: 1775.057918 # Seafloor depth: -1832.261882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.800963 meters # Minimum depth: 1821.487268 meters looking forward 100.000000 meters along route # Maximum depth: 1830.571905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.487268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136824; longitude = -129.945780; duration = 403; initialDepth = 1772.586529; finalDepth = 1771.487268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5179719999999 # Actual altitude: 57.5179719999999 # Commanded vehicle depth: 1771.487268 # Seafloor depth: -1829.005240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.228484 meters # Minimum depth: 1822.586529 meters looking forward 100.000000 meters along route # Maximum depth: 1828.554457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.586529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137562; longitude = -129.945021; duration = 412; initialDepth = 1771.962797; finalDepth = 1772.586529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5179719999999 # Actual altitude: 57.5179719999999 # Commanded vehicle depth: 1772.586529 # Seafloor depth: -1822.586529 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.277417 meters # Minimum depth: 1821.962797 meters looking forward 100.000000 meters along route # Maximum depth: 1831.569283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.962797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138318; longitude = -129.944245; duration = 421; initialDepth = 1727.346410; finalDepth = 1771.962797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8823590000002 # Actual altitude: 54.8823590000002 # Commanded vehicle depth: 1771.962797 # Seafloor depth: -1826.845156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.178113 meters # Minimum depth: 1777.346410 meters looking forward 100.000000 meters along route # Maximum depth: 1823.093045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.346410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139089; longitude = -129.943452; duration = 404; initialDepth = 1707.384876; finalDepth = 1727.346410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.746635 # Actual altitude: 95.746635 # Commanded vehicle depth: 1727.34641 # Seafloor depth: -1823.093045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.227045 meters # Minimum depth: 1757.384876 meters looking forward 100.000000 meters along route # Maximum depth: 1780.893471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.384876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139830; longitude = -129.942691; duration = 412; initialDepth = 1666.732805; finalDepth = 1707.384876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.746635 # Actual altitude: 95.746635 # Commanded vehicle depth: 1707.384876 # Seafloor depth: -1776.442896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 57.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.897403 meters # Minimum depth: 1716.732805 meters looking forward 100.000000 meters along route # Maximum depth: 1757.248157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.732805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140586; longitude = -129.941915; duration = 419; initialDepth = 1670.324030; finalDepth = 1666.732805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.498423 # Actual altitude: 90.498423 # Commanded vehicle depth: 1666.732805 # Seafloor depth: -1757.231228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.555251 meters # Minimum depth: 1720.324030 meters looking forward 100.000000 meters along route # Maximum depth: 1754.452440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.324030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141354; longitude = -129.941125; duration = 406; initialDepth = 1705.081486; finalDepth = 1670.324030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.498423 # Actual altitude: 90.498423 # Commanded vehicle depth: 1670.32403 # Seafloor depth: -1724.646372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 54.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.225608 meters # Minimum depth: 1755.081486 meters looking forward 100.000000 meters along route # Maximum depth: 1766.972787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.081486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142098; longitude = -129.940361; duration = 412; initialDepth = 1685.634088; finalDepth = 1705.081486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3223419999999 # Actual altitude: 54.3223419999999 # Commanded vehicle depth: 1705.081486 # Seafloor depth: -1755.737713 # 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 25 # Segment length 104.517398 meters # Minimum depth: 1735.634088 meters looking forward 100.000000 meters along route # Maximum depth: 1759.717822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.634088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142854; longitude = -129.939585; duration = 418; initialDepth = 1686.189194; finalDepth = 1685.634088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.083734 # Actual altitude: 74.083734 # Commanded vehicle depth: 1685.634088 # Seafloor depth: -1759.717822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.932380 meters # Minimum depth: 1736.189194 meters looking forward 100.000000 meters along route # Maximum depth: 1758.470579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.189194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143619; longitude = -129.938798; duration = 407; initialDepth = 1704.557882; finalDepth = 1686.189194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.083734 # Actual altitude: 74.083734 # Commanded vehicle depth: 1686.189194 # Seafloor depth: -1736.189194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.224170 meters # Minimum depth: 1754.557882 meters looking forward 100.000000 meters along route # Maximum depth: 1762.299499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.557882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144366; longitude = -129.938031; duration = 412; initialDepth = 1711.360818; finalDepth = 1704.557882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.911141 # Actual altitude: 51.911141 # Commanded vehicle depth: 1704.557882 # Seafloor depth: -1756.469023 # 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 25 # Segment length 104.137403 meters # Minimum depth: 1761.360818 meters looking forward 100.000000 meters along route # Maximum depth: 1804.454427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.360818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145122; longitude = -129.937255; duration = 416; initialDepth = 1736.315873; finalDepth = 1711.360818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.911141 # Actual altitude: 51.911141 # Commanded vehicle depth: 1711.360818 # Seafloor depth: -1761.360818 # 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 25 # Segment length 102.309499 meters # Minimum depth: 1786.315873 meters looking forward 100.000000 meters along route # Maximum depth: 1808.079780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.315873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145885; longitude = -129.936471; duration = 409; initialDepth = 1722.254645; finalDepth = 1736.315873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2156809999999 # Actual altitude: 66.2156809999999 # Commanded vehicle depth: 1736.315873 # Seafloor depth: -1802.531554 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.222732 meters # Minimum depth: 1772.254645 meters looking forward 100.000000 meters along route # Maximum depth: 1787.740263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.254645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146634; longitude = -129.935701; duration = 412; initialDepth = 1729.897750; finalDepth = 1722.254645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2156809999999 # Actual altitude: 66.2156809999999 # Commanded vehicle depth: 1722.254645 # Seafloor depth: -1787.261588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.757420 meters # Minimum depth: 1779.897750 meters looking forward 100.000000 meters along route # Maximum depth: 1787.654180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.897750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147390; longitude = -129.934925; duration = 415; initialDepth = 1727.402724; finalDepth = 1729.897750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0069430000001 # Actual altitude: 65.0069430000001 # Commanded vehicle depth: 1729.89775 # Seafloor depth: -1787.654180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.686606 meters # Minimum depth: 1777.402724 meters looking forward 100.000000 meters along route # Maximum depth: 1849.165011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.402724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148150; longitude = -129.934144; duration = 410; initialDepth = 1764.777591; finalDepth = 1727.402724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7564299999999 # Actual altitude: 57.7564299999999 # Commanded vehicle depth: 1727.402724 # Seafloor depth: -1781.435255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.558536 meters # Minimum depth: 1839.769310 meters looking forward 100.000000 meters along route # Maximum depth: 1851.151913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.777591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148902; longitude = -129.933371; duration = 402; initialDepth = 1789.119291; finalDepth = 1764.777591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8011316506183 # Actual altitude: 79.8011316506183 # Commanded vehicle depth: 1764.77759134938 # Seafloor depth: -1844.578723 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.149096 meters # Minimum depth: 1839.119291 meters looking forward 100.000000 meters along route # Maximum depth: 1843.234789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.119291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149638; longitude = -129.932615; duration = 400; initialDepth = 1787.427178; finalDepth = 1789.119291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.8011316506183 # Actual altitude: 79.8011316506183 # Commanded vehicle depth: 1789.119291 # Seafloor depth: -1841.403265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.88; 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 100.644591 meters # Minimum depth: 1837.427178 meters looking forward 100.000000 meters along route # Maximum depth: 1870.791671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.427178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150372; longitude = -129.931861; duration = 402; # abortOnTimeout = True; initialDepth = 1793.615291; finalDepth = 1787.427178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2839739999999 # Actual altitude: 52.2839739999999 # Commanded vehicle depth: 1787.427178 # Seafloor depth: -1838.316406 # 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 24 # Segment length 100.644534 meters # Minimum depth: 1843.615291 meters looking forward 100.000000 meters along route # Maximum depth: 1865.687866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.615291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151257; longitude = -129.932142; duration = 402; initialDepth = 1790.782064; finalDepth = 1793.615291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.0725749999999 # Actual altitude: 72.0725749999999 # Commanded vehicle depth: 1793.615291 # Seafloor depth: -1865.687866 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 111.909003 meters # Minimum depth: 1840.782064 meters looking forward 100.000000 meters along route # Maximum depth: 1879.784945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.782064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152141; longitude = -129.932422; duration = 447; # abortOnTimeout = True; initialDepth = 1819.928456; finalDepth = 1790.782064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0725749999999 # Actual altitude: 72.0725749999999 # Commanded vehicle depth: 1790.782064 # Seafloor depth: -1840.782064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.344323 meters # Minimum depth: 1869.928456 meters looking forward 100.000000 meters along route # Maximum depth: 1891.942355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.928456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151321; longitude = -129.933264; duration = 401; initialDepth = 1774.731519; finalDepth = 1819.928456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0207049999999 # Actual altitude: 62.0207049999999 # Commanded vehicle depth: 1819.928456 # Seafloor depth: -1881.949161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.259107 meters # Minimum depth: 1824.731519 meters looking forward 100.000000 meters along route # Maximum depth: 1869.456691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.731519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150586; longitude = -129.934018; duration = 413; initialDepth = 1709.811401; finalDepth = 1774.731519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.1702580000001 # Actual altitude: 94.1702580000001 # Commanded vehicle depth: 1774.731519 # Seafloor depth: -1868.901777 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.621740 meters # Minimum depth: 1759.811401 meters looking forward 100.000000 meters along route # Maximum depth: 1824.059740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.811401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149830; longitude = -129.934795; duration = 422; initialDepth = 1706.252434; finalDepth = 1709.811401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.248339 # Actual altitude: 100 # Commanded vehicle depth: 1709.811401 # Seafloor depth: -1824.059740 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.897913 meters # Minimum depth: 1756.252434 meters looking forward 100.000000 meters along route # Maximum depth: 1769.986777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.252434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149056; longitude = -129.935590; duration = 403; initialDepth = 1698.933552; finalDepth = 1706.252434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.248339 # Actual altitude: 100 # Commanded vehicle depth: 1706.252434 # Seafloor depth: -1759.754016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.260545 meters # Minimum depth: 1748.933552 meters looking forward 100.000000 meters along route # Maximum depth: 1763.525191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.933552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148317; longitude = -129.936348; duration = 413; initialDepth = 1693.628618; finalDepth = 1698.933552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8763650000001 # Actual altitude: 63.8763650000001 # Commanded vehicle depth: 1698.933552 # Seafloor depth: -1762.809917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.071011 meters # Minimum depth: 1743.628618 meters looking forward 100.000000 meters along route # Maximum depth: 1758.350569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.628618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147560; longitude = -129.937125; duration = 420; initialDepth = 1693.243708; finalDepth = 1693.628618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8763650000001 # Actual altitude: 63.8763650000001 # Commanded vehicle depth: 1693.628618 # Seafloor depth: -1753.962896 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.451518 meters # Minimum depth: 1743.243708 meters looking forward 100.000000 meters along route # Maximum depth: 1758.871885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.243708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146791; longitude = -129.937915; duration = 405; initialDepth = 1660.606838; finalDepth = 1693.243708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.385023 # Actual altitude: 65.385023 # Commanded vehicle depth: 1693.243708 # Seafloor depth: -1758.628731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.261983 meters # Minimum depth: 1710.606838 meters looking forward 100.000000 meters along route # Maximum depth: 1743.278690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.606838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146048; longitude = -129.938678; duration = 413; initialDepth = 1644.481052; finalDepth = 1660.606838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6718520000002 # Actual altitude: 82.6718520000002 # Commanded vehicle depth: 1660.606838 # Seafloor depth: -1743.278690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 104.520268 meters # Minimum depth: 1694.481052 meters looking forward 100.000000 meters along route # Maximum depth: 1709.854527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.481052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145291; longitude = -129.939455; duration = 418; initialDepth = 1654.749807; finalDepth = 1644.481052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6718520000002 # Actual altitude: 82.6718520000002 # Commanded vehicle depth: 1644.481052 # Seafloor depth: -1709.854527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.005137 meters # Minimum depth: 1704.749807 meters looking forward 100.000000 meters along route # Maximum depth: 1736.375261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.749807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144525; longitude = -129.940241; duration = 408; initialDepth = 1690.100376; finalDepth = 1654.749807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.3734749999999 # Actual altitude: 65.3734749999999 # Commanded vehicle depth: 1654.749807 # Seafloor depth: -1704.749807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.263422 meters # Minimum depth: 1740.100376 meters looking forward 100.000000 meters along route # Maximum depth: 1753.274821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.100376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143778; longitude = -129.941008; duration = 413; initialDepth = 1699.422306; finalDepth = 1690.100376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7883539999998 # Actual altitude: 50.7883539999998 # Commanded vehicle depth: 1690.100376 # Seafloor depth: -1740.888730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 103.969508 meters # Minimum depth: 1749.422306 meters looking forward 100.000000 meters along route # Maximum depth: 1783.658377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.422306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143022; longitude = -129.941785; duration = 415; initialDepth = 1734.505591; finalDepth = 1699.422306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7883539999998 # Actual altitude: 50.7883539999998 # Commanded vehicle depth: 1699.422306 # Seafloor depth: -1749.422306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.558773 meters # Minimum depth: 1784.505591 meters looking forward 100.000000 meters along route # Maximum depth: 1802.629923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.505591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142260; longitude = -129.942567; duration = 410; initialDepth = 1744.205020; finalDepth = 1734.505591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1734.505591 # Seafloor depth: -1784.505591 # 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 23 # Segment length 100.657156 meters # Minimum depth: 1794.205020 meters looking forward 100.000000 meters along route # Maximum depth: 1826.064504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.205020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141509; longitude = -129.943338; duration = 402; initialDepth = 1761.734028; finalDepth = 1744.205020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1744.20502 # Seafloor depth: -1794.205020 # 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 23 # Segment length 100.136068 meters # Minimum depth: 1811.734028 meters looking forward 100.000000 meters along route # Maximum depth: 1828.141065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.734028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140772; longitude = -129.944095; duration = 400; initialDepth = 1761.329932; finalDepth = 1761.734028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.641453 # Actual altitude: 65.641453 # Commanded vehicle depth: 1761.734028 # Seafloor depth: -1827.375481 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.38; 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 22 # Segment length 81.649178 meters # Minimum depth: 1811.329932 meters looking forward 100.000000 meters along route # Maximum depth: 1823.479596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.329932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140038; longitude = -129.944849; duration = 326; # abortOnTimeout = True; initialDepth = 1772.568794; finalDepth = 1761.329932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.641453 # Actual altitude: 65.641453 # Commanded vehicle depth: 1761.329932 # Seafloor depth: -1812.619466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.860758 meters # Minimum depth: 1822.568794 meters looking forward 100.000000 meters along route # Maximum depth: 1837.531566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.568794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140772; longitude = -129.944786; duration = 403; initialDepth = 1744.552141; finalDepth = 1772.568794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.289534 # Actual altitude: 51.289534 # Commanded vehicle depth: 1772.568794 # Seafloor depth: -1822.568794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.860767 meters # Minimum depth: 1794.552141 meters looking forward 100.000000 meters along route # Maximum depth: 1834.925781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.552141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141678; longitude = -129.944709; duration = 403; initialDepth = 1712.328141; finalDepth = 1744.552141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.197901 # Actual altitude: 88.197901 # Commanded vehicle depth: 1744.552141 # Seafloor depth: -1832.750042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.860775 meters # Minimum depth: 1762.328141 meters looking forward 100.000000 meters along route # Maximum depth: 1792.919091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.328141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142584; longitude = -129.944631; duration = 403; initialDepth = 1725.734628; finalDepth = 1712.328141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.197901 # Actual altitude: 88.197901 # Commanded vehicle depth: 1712.328141 # Seafloor depth: -1792.919091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.860785 meters # Minimum depth: 1775.734628 meters looking forward 100.000000 meters along route # Maximum depth: 1810.126914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.734628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143490; longitude = -129.944554; duration = 403; initialDepth = 1759.658775; finalDepth = 1725.734628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.59095 # Actual altitude: 80.59095 # Commanded vehicle depth: 1725.734628 # Seafloor depth: -1775.734628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 105.663689 meters # Minimum depth: 1809.658775 meters looking forward 100.000000 meters along route # Maximum depth: 1834.119404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.658775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144396; longitude = -129.944477; duration = 422; initialDepth = 1739.617673; finalDepth = 1759.658775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1759.658775 # Seafloor depth: -1809.658775 # 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 21 # Segment length 146.892603 meters # Minimum depth: 1789.617673 meters looking forward 100.000000 meters along route # Maximum depth: 1832.597656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.617673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145345; longitude = -129.944396; duration = 587; # abortOnTimeout = True; initialDepth = 1728.627884; finalDepth = 1739.617673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.9799829999999 # Actual altitude: 92.9799829999999 # Commanded vehicle depth: 1739.617673 # Seafloor depth: -1832.597656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.996153 meters # Minimum depth: 1778.627884 meters looking forward 100.000000 meters along route # Maximum depth: 1789.675971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.627884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144267; longitude = -129.945495; duration = 403; initialDepth = 1722.404679; finalDepth = 1728.627884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.9799829999999 # Actual altitude: 92.9799829999999 # Commanded vehicle depth: 1728.627884 # Seafloor depth: -1789.675971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 55.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.768200 meters # Minimum depth: 1772.404679 meters looking forward 100.000000 meters along route # Maximum depth: 1795.229749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.404679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143525; longitude = -129.946251; duration = 415; initialDepth = 1745.111384; finalDepth = 1722.404679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0480869999999 # Actual altitude: 61.0480869999999 # Commanded vehicle depth: 1722.404679 # Seafloor depth: -1777.054185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 106.651152 meters # Minimum depth: 1795.111384 meters looking forward 100.000000 meters along route # Maximum depth: 1822.743328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.111384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142763; longitude = -129.947028; duration = 426; initialDepth = 1764.692993; finalDepth = 1745.111384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.649506 # Actual altitude: 54.649506 # Commanded vehicle depth: 1745.111384 # Seafloor depth: -1795.111384 # 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; } # ####################################################### # # 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 160.108193 meters # Minimum depth: 1814.692993 meters looking forward 100.000000 meters along route # Maximum depth: 1821.626628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.692993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141980; longitude = -129.947826; duration = 640; # abortOnTimeout = True; initialDepth = 1758.015004; finalDepth = 1764.692993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.9336350000001 # Actual altitude: 56.9336350000001 # Commanded vehicle depth: 1764.692993 # Seafloor depth: -1821.626628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 166.291797 meters # Minimum depth: 1808.015004 meters looking forward 100.000000 meters along route # Maximum depth: 1828.998944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.015004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141138; longitude = -129.946143; duration = 665; # abortOnTimeout = True; initialDepth = 1705.741781; finalDepth = 1758.015004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2576199999999 # Actual altitude: 60.2576199999999 # Commanded vehicle depth: 1758.015004 # Seafloor depth: -1818.272624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.214973 meters # Minimum depth: 1755.741781 meters looking forward 100.000000 meters along route # Maximum depth: 1807.020941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.741781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142356; longitude = -129.944892; duration = 412; initialDepth = 1700.718874; finalDepth = 1705.741781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.27916 # Actual altitude: 100 # Commanded vehicle depth: 1705.741781 # Seafloor depth: -1807.020941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.616518 meters # Minimum depth: 1750.718874 meters looking forward 100.000000 meters along route # Maximum depth: 1778.095498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.718874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143112; longitude = -129.944115; duration = 418; initialDepth = 1725.124018; finalDepth = 1700.718874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.27916 # Actual altitude: 100 # Commanded vehicle depth: 1700.718874 # Seafloor depth: -1755.672660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.811988 meters # Minimum depth: 1775.124018 meters looking forward 100.000000 meters along route # Maximum depth: 1789.882940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.124018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143878; longitude = -129.943328; duration = 407; initialDepth = 1706.041444; finalDepth = 1725.124018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.953786 # Actual altitude: 54.953786 # Commanded vehicle depth: 1725.124018 # Seafloor depth: -1778.707397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.213535 meters # Minimum depth: 1756.041444 meters looking forward 100.000000 meters along route # Maximum depth: 1770.709410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.041444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144624; longitude = -129.942562; duration = 412; initialDepth = 1702.437307; finalDepth = 1706.041444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.667966 # Actual altitude: 64.667966 # Commanded vehicle depth: 1706.041444 # Seafloor depth: -1770.709410 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 104.284250 meters # Minimum depth: 1752.437307 meters looking forward 100.000000 meters along route # Maximum depth: 1760.388336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.437307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145380; longitude = -129.941785; duration = 417; initialDepth = 1702.557233; finalDepth = 1702.437307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.667966 # Actual altitude: 64.667966 # Commanded vehicle depth: 1702.437307 # Seafloor depth: -1755.968497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.141380 meters # Minimum depth: 1752.557233 meters looking forward 100.000000 meters along route # Maximum depth: 1761.333951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.557233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146143; longitude = -129.941000; duration = 408; initialDepth = 1712.973256; finalDepth = 1702.557233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1590060000001 # Actual altitude: 56.1590060000001 # Commanded vehicle depth: 1702.557233 # Seafloor depth: -1758.716239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.212097 meters # Minimum depth: 1762.973256 meters looking forward 100.000000 meters along route # Maximum depth: 1797.594541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.973256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146892; longitude = -129.940232; duration = 412; initialDepth = 1744.078105; finalDepth = 1712.973256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1590060000001 # Actual altitude: 56.1590060000001 # Commanded vehicle depth: 1712.973256 # Seafloor depth: -1762.973256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.951992 meters # Minimum depth: 1794.078105 meters looking forward 100.000000 meters along route # Maximum depth: 1801.447151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.078105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147647; longitude = -129.939455; duration = 415; initialDepth = 1745.224026; finalDepth = 1744.078105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.942209 # Actual altitude: 51.942209 # Commanded vehicle depth: 1744.078105 # Seafloor depth: -1796.020314 # 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 19 # Segment length 102.470763 meters # Minimum depth: 1795.224026 meters looking forward 100.000000 meters along route # Maximum depth: 1805.695857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.224026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148409; longitude = -129.938673; duration = 409; initialDepth = 1757.623798; finalDepth = 1745.224026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2743509999998 # Actual altitude: 53.2743509999998 # Commanded vehicle depth: 1745.224026 # Seafloor depth: -1798.498377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.210658 meters # Minimum depth: 1807.623798 meters looking forward 100.000000 meters along route # Maximum depth: 1845.834307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.623798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149159; longitude = -129.937902; duration = 412; initialDepth = 1795.189405; finalDepth = 1757.623798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2743509999998 # Actual altitude: 53.2743509999998 # Commanded vehicle depth: 1757.623798 # Seafloor depth: -1807.623798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.619743 meters # Minimum depth: 1845.693823 meters looking forward 100.000000 meters along route # Maximum depth: 1874.143903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.189405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149915; longitude = -129.937125; duration = 414; initialDepth = 1824.150248; finalDepth = 1795.189405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6641633249442 # Actual altitude: 50.6641633249442 # Commanded vehicle depth: 1795.18940467506 # Seafloor depth: -1845.853568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 102.800137 meters # Minimum depth: 1874.150248 meters looking forward 100.000000 meters along route # Maximum depth: 1880.951010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.150248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150674; longitude = -129.936345; duration = 411; initialDepth = 1810.796273; finalDepth = 1824.150248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6641633249442 # Actual altitude: 50.6641633249442 # Commanded vehicle depth: 1824.150248 # Seafloor depth: -1874.328637 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.209220 meters # Minimum depth: 1860.796273 meters looking forward 100.000000 meters along route # Maximum depth: 1879.856418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.796273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151427; longitude = -129.935572; duration = 412; initialDepth = 1805.874339; finalDepth = 1810.796273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7825910000001 # Actual altitude: 62.7825910000001 # Commanded vehicle depth: 1810.796273 # Seafloor depth: -1873.578864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.341839 meters # Minimum depth: 1855.874339 meters looking forward 100.000000 meters along route # Maximum depth: 1881.321439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.874339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152183; longitude = -129.934795; duration = 401; initialDepth = 1775.837197; finalDepth = 1805.874339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 73.8670959999999 # Actual altitude: 73.8670959999999 # Commanded vehicle depth: 1805.874339 # Seafloor depth: -1879.741435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 167.955846 meters # Minimum depth: 1825.837197 meters looking forward 100.000000 meters along route # Maximum depth: 1855.250651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.837197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152918; longitude = -129.934040; duration = 671; # abortOnTimeout = True; initialDepth = 1776.014844; finalDepth = 1775.837197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.413454 # Actual altitude: 79.413454 # Commanded vehicle depth: 1775.837197 # Seafloor depth: -1855.250651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 105.285589 meters # Minimum depth: 1826.014844 meters looking forward 100.000000 meters along route # Maximum depth: 1828.940723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.014844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154363; longitude = -129.934676; duration = 421; initialDepth = 1777.787012; finalDepth = 1776.014844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.413454 # Actual altitude: 79.413454 # Commanded vehicle depth: 1776.014844 # Seafloor depth: -1826.014844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.778667 meters # Minimum depth: 1827.787012 meters looking forward 100.000000 meters along route # Maximum depth: 1838.586528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.787012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155269; longitude = -129.935075; duration = 411; initialDepth = 1786.022329; finalDepth = 1777.787012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.787012 # Seafloor depth: -1827.787012 # 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 17 # Segment length 105.290971 meters # Minimum depth: 1836.022329 meters looking forward 100.000000 meters along route # Maximum depth: 1838.207191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.022329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156154; longitude = -129.935464; duration = 421; # abortOnTimeout = True; initialDepth = 1783.845624; finalDepth = 1786.022329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3095390000001 # Actual altitude: 51.3095390000001 # Commanded vehicle depth: 1786.022329 # Seafloor depth: -1837.331868 # 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 17 # Segment length 102.444785 meters # Minimum depth: 1833.845624 meters looking forward 100.000000 meters along route # Maximum depth: 1841.881063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.845624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156922; longitude = -129.934666; duration = 409; initialDepth = 1791.757999; finalDepth = 1783.845624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3759669999999 # Actual altitude: 52.3759669999999 # Commanded vehicle depth: 1783.845624 # Seafloor depth: -1836.221591 # 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 17 # Segment length 102.444307 meters # Minimum depth: 1841.757999 meters looking forward 100.000000 meters along route # Maximum depth: 1857.485251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.757999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157669; longitude = -129.933889; duration = 409; initialDepth = 1790.221310; finalDepth = 1791.757999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3759669999999 # Actual altitude: 52.3759669999999 # Commanded vehicle depth: 1791.757999 # Seafloor depth: -1842.109527 # 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 17 # Segment length 102.443830 meters # Minimum depth: 1840.221310 meters looking forward 100.000000 meters along route # Maximum depth: 1871.401857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.221310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158417; longitude = -129.933112; duration = 409; initialDepth = 1797.841722; finalDepth = 1790.221310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.980098 # Actual altitude: 52.980098 # Commanded vehicle depth: 1790.22131 # Seafloor depth: -1843.201408 # 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 17 # Segment length 104.822131 meters # Minimum depth: 1847.841722 meters looking forward 100.000000 meters along route # Maximum depth: 1870.899650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.841722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159164; longitude = -129.932336; duration = 419; initialDepth = 1795.057373; finalDepth = 1797.841722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.0579280000002 # Actual altitude: 73.0579280000002 # Commanded vehicle depth: 1797.841722 # Seafloor depth: -1870.899650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.064096 meters # Minimum depth: 1845.057373 meters looking forward 100.000000 meters along route # Maximum depth: 1865.412593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.057373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159929; longitude = -129.931541; duration = 400; initialDepth = 1793.501778; finalDepth = 1795.057373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.0579280000002 # Actual altitude: 73.0579280000002 # Commanded vehicle depth: 1795.057373 # Seafloor depth: -1849.029552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.954130 meters # Minimum depth: 1843.501778 meters looking forward 100.000000 meters along route # Maximum depth: 1870.357252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.501778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160659; longitude = -129.930782; duration = 415; initialDepth = 1786.632840; finalDepth = 1793.501778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.2033389999999 # Actual altitude: 74.2033389999999 # Commanded vehicle depth: 1793.501778 # Seafloor depth: -1867.705117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.930186 meters # Minimum depth: 1836.632840 meters looking forward 100.000000 meters along route # Maximum depth: 1849.524488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.632840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161418; longitude = -129.929994; duration = 403; initialDepth = 1789.377446; finalDepth = 1786.632840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.2033389999999 # Actual altitude: 74.2033389999999 # Commanded vehicle depth: 1786.63284 # Seafloor depth: -1848.056678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 103.086146 meters # Minimum depth: 1839.377446 meters looking forward 100.000000 meters along route # Maximum depth: 1866.022130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.377446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162154; longitude = -129.929229; duration = 412; initialDepth = 1813.842712; finalDepth = 1789.377446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4238379999999 # Actual altitude: 61.4238379999999 # Commanded vehicle depth: 1789.377446 # Seafloor depth: -1839.756366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.442552 meters # Minimum depth: 1863.842712 meters looking forward 100.000000 meters along route # Maximum depth: 1885.954189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.842712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162906; longitude = -129.928448; duration = 425; initialDepth = 1838.112659; finalDepth = 1813.842712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3789200000001 # Actual altitude: 50.3789200000001 # Commanded vehicle depth: 1813.842712 # Seafloor depth: -1863.842712 # 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 17 # Segment length 103.485319 meters # Minimum depth: 1888.112659 meters looking forward 100.000000 meters along route # Maximum depth: 1906.664029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.112659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163683; longitude = -129.927641; duration = 413; initialDepth = 1844.833449; finalDepth = 1838.112659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.440333 # Actual altitude: 50.440333 # Commanded vehicle depth: 1838.112659 # Seafloor depth: -1888.552992 # 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; } # ####################################################### # # 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 152.063608 meters # Minimum depth: 1894.833449 meters looking forward 100.000000 meters along route # Maximum depth: 1906.717773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.833449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164438; longitude = -129.926856; duration = 608; # abortOnTimeout = True; initialDepth = 1843.075798; finalDepth = 1844.833449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.8843240000001 # Actual altitude: 61.8843240000001 # Commanded vehicle depth: 1844.833449 # Seafloor depth: -1906.717773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 81.743186 meters # Minimum depth: 1893.075798 meters looking forward 100.000000 meters along route # Maximum depth: 1895.965169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.075798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.165280; longitude = -129.928409; duration = 326; # abortOnTimeout = True; initialDepth = 1815.073326; finalDepth = 1843.075798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8843240000001 # Actual altitude: 61.8843240000001 # Commanded vehicle depth: 1843.075798 # Seafloor depth: -1895.965169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.493555 meters # Minimum depth: 1865.073326 meters looking forward 100.000000 meters along route # Maximum depth: 1893.862199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.073326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164686; longitude = -129.929035; duration = 409; initialDepth = 1811.432612; finalDepth = 1815.073326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4896530000001 # Actual altitude: 78.4896530000001 # Commanded vehicle depth: 1815.073326 # Seafloor depth: -1893.562979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.456381 meters # Minimum depth: 1861.432612 meters looking forward 100.000000 meters along route # Maximum depth: 1872.529081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.432612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163942; longitude = -129.929819; duration = 401; initialDepth = 1822.410039; finalDepth = 1811.432612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4896530000001 # Actual altitude: 78.4896530000001 # Commanded vehicle depth: 1811.432612 # Seafloor depth: -1865.090806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 47.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.583126 meters # Minimum depth: 1872.410039 meters looking forward 100.000000 meters along route # Maximum depth: 1888.047497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.410039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163213; longitude = -129.930588; duration = 418; initialDepth = 1836.211084; finalDepth = 1822.410039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6581939999999 # Actual altitude: 53.6581939999999 # Commanded vehicle depth: 1822.410039 # Seafloor depth: -1873.932288 # 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 15 # Segment length 104.006289 meters # Minimum depth: 1886.211084 meters looking forward 100.000000 meters along route # Maximum depth: 1901.615177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.211084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162453; longitude = -129.931389; duration = 416; initialDepth = 1782.467096; finalDepth = 1836.211084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.650228 # Actual altitude: 52.650228 # Commanded vehicle depth: 1836.211084 # Seafloor depth: -1888.861312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 151.899612 meters # Minimum depth: 1832.467096 meters looking forward 100.000000 meters along route # Maximum depth: 1900.210938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.467096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161698; longitude = -129.932185; duration = 607; # abortOnTimeout = True; initialDepth = 1780.200687; finalDepth = 1782.467096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.743842 # Actual altitude: 100 # Commanded vehicle depth: 1782.467096 # Seafloor depth: -1900.210938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.406008 meters # Minimum depth: 1830.200687 meters looking forward 100.000000 meters along route # Maximum depth: 1847.330161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.200687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161930; longitude = -129.930246; duration = 401; initialDepth = 1796.826029; finalDepth = 1780.200687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.743842 # Actual altitude: 100 # Commanded vehicle depth: 1780.200687 # Seafloor depth: -1838.259095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.405719 meters # Minimum depth: 1846.826029 meters looking forward 100.000000 meters along route # Maximum depth: 1875.679919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.826029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162084; longitude = -129.928964; duration = 401; initialDepth = 1825.128907; finalDepth = 1796.826029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0584079999999 # Actual altitude: 58.0584079999999 # Commanded vehicle depth: 1796.826029 # Seafloor depth: -1847.087933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.405431 meters # Minimum depth: 1875.128907 meters looking forward 100.000000 meters along route # Maximum depth: 1885.196539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.128907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162237; longitude = -129.927683; duration = 401; initialDepth = 1835.491373; finalDepth = 1825.128907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.261904 # Actual altitude: 50.261904 # Commanded vehicle depth: 1825.128907 # Seafloor depth: -1875.128907 # 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 14 # Segment length 100.743206 meters # Minimum depth: 1885.491373 meters looking forward 100.000000 meters along route # Maximum depth: 1902.885031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.491373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162391; longitude = -129.926401; duration = 402; initialDepth = 1846.762319; finalDepth = 1835.491373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1835.491373 # Seafloor depth: -1885.491373 # 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 13 # Segment length 100.867733 meters # Minimum depth: 1896.762319 meters looking forward 100.000000 meters along route # Maximum depth: 1908.483949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.762319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162545; longitude = -129.925116; duration = 403; # abortOnTimeout = True; initialDepth = 1799.147963; finalDepth = 1846.762319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.130259 # Actual altitude: 56.130259 # Commanded vehicle depth: 1846.762319 # Seafloor depth: -1902.892578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.199834 meters # Minimum depth: 1849.147963 meters looking forward 100.000000 meters along route # Maximum depth: 1896.665240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.147963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162480; longitude = -129.923812; duration = 400; initialDepth = 1789.393621; finalDepth = 1799.147963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5172770000001 # Actual altitude: 97.5172770000001 # Commanded vehicle depth: 1799.147963 # Seafloor depth: -1896.665240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.199932 meters # Minimum depth: 1839.393621 meters looking forward 100.000000 meters along route # Maximum depth: 1851.320645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.393621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162416; longitude = -129.922518; duration = 400; initialDepth = 1791.544821; finalDepth = 1789.393621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5172770000001 # Actual altitude: 97.5172770000001 # Commanded vehicle depth: 1789.393621 # Seafloor depth: -1849.319205 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 58.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.200030 meters # Minimum depth: 1841.544821 meters looking forward 100.000000 meters along route # Maximum depth: 1848.796438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.544821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162352; longitude = -129.921224; duration = 400; initialDepth = 1798.273579; finalDepth = 1791.544821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9255840000001 # Actual altitude: 59.9255840000001 # Commanded vehicle depth: 1791.544821 # Seafloor depth: -1841.544821 # 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 13 # Segment length 100.200129 meters # Minimum depth: 1848.273579 meters looking forward 100.000000 meters along route # Maximum depth: 1900.538725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.273579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162288; longitude = -129.919929; duration = 400; initialDepth = 1834.743443; finalDepth = 1798.273579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1798.273579 # Seafloor depth: -1848.273579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.200228 meters # Minimum depth: 1900.874587 meters looking forward 100.000000 meters along route # Maximum depth: 1908.442985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.743443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162224; longitude = -129.918635; duration = 400; initialDepth = 1854.371010; finalDepth = 1834.743443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1311442500387 # Actual altitude: 66.1311442500387 # Commanded vehicle depth: 1834.74344274996 # Seafloor depth: -1900.874587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.534327 meters # Minimum depth: 1904.371010 meters looking forward 100.000000 meters along route # Maximum depth: 1907.153861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.371010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162159; longitude = -129.917340; duration = 402; initialDepth = 1855.550456; finalDepth = 1854.371010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.1311442500387 # Actual altitude: 66.1311442500387 # Commanded vehicle depth: 1854.37101 # Seafloor depth: -1905.149417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.68; 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 12 # Segment length 166.001516 meters # Minimum depth: 1905.550456 meters looking forward 100.000000 meters along route # Maximum depth: 1953.596474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.550456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162095; longitude = -129.916041; duration = 664; # abortOnTimeout = True; initialDepth = 1903.796863; finalDepth = 1855.550456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.778407 # Actual altitude: 50.778407 # Commanded vehicle depth: 1855.550456 # Seafloor depth: -1905.550456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.240056 meters # Minimum depth: 1953.796863 meters looking forward 100.000000 meters along route # Maximum depth: 1987.093605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.796863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162616; longitude = -129.914026; duration = 400; initialDepth = 1932.799509; finalDepth = 1903.796863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1903.796863 # Seafloor depth: -1953.796863 # 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 100.239539 meters # Minimum depth: 1982.799509 meters looking forward 100.000000 meters along route # Maximum depth: 1987.841891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.799509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162931; longitude = -129.912810; duration = 400; initialDepth = 1885.237827; finalDepth = 1932.799509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1217790000001 # Actual altitude: 54.1217790000001 # Commanded vehicle depth: 1932.799509 # Seafloor depth: -1986.921288 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.239022 meters # Minimum depth: 1935.237827 meters looking forward 100.000000 meters along route # Maximum depth: 1985.637328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.237827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163245; longitude = -129.911593; duration = 400; initialDepth = 1886.321565; finalDepth = 1885.237827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.399501 # Actual altitude: 100 # Commanded vehicle depth: 1885.237827 # Seafloor depth: -1985.637328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.238503 meters # Minimum depth: 1936.321565 meters looking forward 100.000000 meters along route # Maximum depth: 1951.251630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.321565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163560; longitude = -129.910376; duration = 400; initialDepth = 1900.110156; finalDepth = 1886.321565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.399501 # Actual altitude: 100 # Commanded vehicle depth: 1886.321565 # Seafloor depth: -1936.321565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.237987 meters # Minimum depth: 1950.110156 meters looking forward 100.000000 meters along route # Maximum depth: 1986.680020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.110156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163874; longitude = -129.909159; duration = 400; initialDepth = 1936.593799; finalDepth = 1900.110156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.372036 # Actual altitude: 50.372036 # Commanded vehicle depth: 1900.110156 # Seafloor depth: -1950.482192 # 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 12 # Segment length 100.118437 meters # Minimum depth: 1986.750369 meters looking forward 100.000000 meters along route # Maximum depth: 1992.017159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.593799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164189; longitude = -129.907942; duration = 400; initialDepth = 1879.233136; finalDepth = 1936.593799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.372036 # Actual altitude: 50.372036 # Commanded vehicle depth: 1936.59379893483 # Seafloor depth: -1986.750369 # 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 11 # Segment length 155.852217 meters # Minimum depth: 1929.233136 meters looking forward 100.000000 meters along route # Maximum depth: 1998.828334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.233136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.164503; longitude = -129.906727; duration = 623; # abortOnTimeout = True; initialDepth = 1870.177262; finalDepth = 1879.233136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.668842 # Actual altitude: 100 # Commanded vehicle depth: 1879.233136 # Seafloor depth: -1993.901978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.207653 meters # Minimum depth: 1920.177262 meters looking forward 100.000000 meters along route # Maximum depth: 1927.281493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.177262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.163360; longitude = -129.907896; duration = 400; initialDepth = 1874.151456; finalDepth = 1870.177262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.668842 # Actual altitude: 100 # Commanded vehicle depth: 1870.177262 # Seafloor depth: -1926.749151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.552481 meters # Minimum depth: 1924.151456 meters looking forward 100.000000 meters along route # Maximum depth: 1931.101629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.151456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.162624; longitude = -129.908648; duration = 414; initialDepth = 1874.126268; finalDepth = 1874.151456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5718890000001 # Actual altitude: 56.5718890000001 # Commanded vehicle depth: 1874.151456 # Seafloor depth: -1926.762605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.985591 meters # Minimum depth: 1924.126268 meters looking forward 100.000000 meters along route # Maximum depth: 1930.743366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.126268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161865; longitude = -129.909424; duration = 419; initialDepth = 1879.937038; finalDepth = 1874.126268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6111489999998 # Actual altitude: 52.6111489999998 # Commanded vehicle depth: 1874.126268 # Seafloor depth: -1924.684110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.120809 meters # Minimum depth: 1929.937038 meters looking forward 100.000000 meters along route # Maximum depth: 1949.655552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.937038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.161094; longitude = -129.910212; duration = 408; initialDepth = 1899.755803; finalDepth = 1879.937038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5578419999999 # Actual altitude: 50.5578419999999 # Commanded vehicle depth: 1879.937038 # Seafloor depth: -1929.937038 # 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 11 # Segment length 103.553919 meters # Minimum depth: 1949.755803 meters looking forward 100.000000 meters along route # Maximum depth: 1960.311495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.755803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.160345; longitude = -129.910977; duration = 414; initialDepth = 1906.928806; finalDepth = 1899.755803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.063674 # Actual altitude: 54.063674 # Commanded vehicle depth: 1899.755803 # Seafloor depth: -1953.819477 # 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 11 # Segment length 103.554399 meters # Minimum depth: 1956.928806 meters looking forward 100.000000 meters along route # Maximum depth: 1994.142671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.928806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.159585; longitude = -129.911754; duration = 414; initialDepth = 1942.750398; finalDepth = 1906.928806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.063674 # Actual altitude: 54.063674 # Commanded vehicle depth: 1906.928806 # Seafloor depth: -1956.928806 # 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 11 # Segment length 105.378983 meters # Minimum depth: 1992.750398 meters looking forward 100.000000 meters along route # Maximum depth: 2003.362620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1942.750398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158825; longitude = -129.912531; duration = 421; initialDepth = 1932.413806; finalDepth = 1942.750398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6727010000002 # Actual altitude: 51.6727010000002 # Commanded vehicle depth: 1942.750398 # Seafloor depth: -1994.423099 # 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 11 # Segment length 101.731255 meters # Minimum depth: 1982.413806 meters looking forward 100.000000 meters along route # Maximum depth: 1992.361817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.413806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.158052; longitude = -129.913321; duration = 406; initialDepth = 1943.298487; finalDepth = 1932.413806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.948011 # Actual altitude: 59.948011 # Commanded vehicle depth: 1932.413806 # Seafloor depth: -1992.361817 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.555839 meters # Minimum depth: 1993.298487 meters looking forward 100.000000 meters along route # Maximum depth: 2006.591077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.298487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.157306; longitude = -129.914084; duration = 414; initialDepth = 1915.724064; finalDepth = 1943.298487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.948011 # Actual altitude: 59.948011 # Commanded vehicle depth: 1943.298487 # Seafloor depth: -1993.298487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.556318 meters # Minimum depth: 1965.724064 meters looking forward 100.000000 meters along route # Maximum depth: 2000.976296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.724064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.156546; longitude = -129.914861; duration = 414; initialDepth = 1886.093409; finalDepth = 1915.724064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.252232 # Actual altitude: 85.252232 # Commanded vehicle depth: 1915.724064 # Seafloor depth: -2000.976296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.772389 meters # Minimum depth: 1936.093409 meters looking forward 100.000000 meters along route # Maximum depth: 1965.944639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.093409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155786; longitude = -129.915637; duration = 423; initialDepth = 1855.281633; finalDepth = 1886.093409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.252232 # Actual altitude: 85.252232 # Commanded vehicle depth: 1886.093409 # Seafloor depth: -1965.634626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 51.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.341687 meters # Minimum depth: 1905.281633 meters looking forward 100.000000 meters along route # Maximum depth: 1935.738117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.281633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.155010; longitude = -129.916431; duration = 405; initialDepth = 1839.922764; finalDepth = 1855.281633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.456484 # Actual altitude: 80.456484 # Commanded vehicle depth: 1855.281633 # Seafloor depth: -1935.738117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.557758 meters # Minimum depth: 1889.922764 meters looking forward 100.000000 meters along route # Maximum depth: 1900.655868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.922764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.154267; longitude = -129.917191; duration = 414; initialDepth = 1838.038350; finalDepth = 1839.922764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.456484 # Actual altitude: 80.456484 # Commanded vehicle depth: 1839.922764 # Seafloor depth: -1900.655868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.861999 meters # Minimum depth: 1888.038350 meters looking forward 100.000000 meters along route # Maximum depth: 1907.340576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.038350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.153507; longitude = -129.917967; duration = 415; initialDepth = 1858.086233; finalDepth = 1838.038350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7331040000001 # Actual altitude: 60.7331040000001 # Commanded vehicle depth: 1838.03835 # Seafloor depth: -1890.667377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.862048 meters # Minimum depth: 1908.086233 meters looking forward 100.000000 meters along route # Maximum depth: 1919.793755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.086233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.152745; longitude = -129.918746; duration = 423; initialDepth = 1833.035866; finalDepth = 1858.086233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.629027 # Actual altitude: 52.629027 # Commanded vehicle depth: 1858.086233 # Seafloor depth: -1908.086233 # 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 11 # Segment length 100.952104 meters # Minimum depth: 1883.035866 meters looking forward 100.000000 meters along route # Maximum depth: 1915.097822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.035866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151968; longitude = -129.919540; duration = 403; initialDepth = 1840.594546; finalDepth = 1833.035866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.061956 # Actual altitude: 82.061956 # Commanded vehicle depth: 1833.035866 # Seafloor depth: -1915.097822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.559677 meters # Minimum depth: 1890.594546 meters looking forward 100.000000 meters along route # Maximum depth: 1904.720107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.594546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.151228; longitude = -129.920297; duration = 414; initialDepth = 1853.715054; finalDepth = 1840.594546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.061956 # Actual altitude: 82.061956 # Commanded vehicle depth: 1840.594546 # Seafloor depth: -1892.557255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.255391 meters # Minimum depth: 1903.715054 meters looking forward 100.000000 meters along route # Maximum depth: 1907.209414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.715054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.150468; longitude = -129.921074; duration = 417; initialDepth = 1818.944497; finalDepth = 1853.715054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9627089999999 # Actual altitude: 51.9627089999999 # Commanded vehicle depth: 1853.715054 # Seafloor depth: -1903.715054 # 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 11 # Segment length 105.864012 meters # Minimum depth: 1868.944497 meters looking forward 100.000000 meters along route # Maximum depth: 1905.777904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.944497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.149703; longitude = -129.921856; duration = 423; initialDepth = 1805.329188; finalDepth = 1818.944497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.8334070000001 # Actual altitude: 86.8334070000001 # Commanded vehicle depth: 1818.944497 # Seafloor depth: -1905.777904 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.562507 meters # Minimum depth: 1855.329188 meters looking forward 100.000000 meters along route # Maximum depth: 1868.846270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.329188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148927; longitude = -129.922650; duration = 402; initialDepth = 1805.898653; finalDepth = 1805.329188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.8334070000001 # Actual altitude: 86.8334070000001 # Commanded vehicle depth: 1805.329188 # Seafloor depth: -1868.846270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 52.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.561596 meters # Minimum depth: 1855.898653 meters looking forward 100.000000 meters along route # Maximum depth: 1893.738053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.898653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.148189; longitude = -129.923404; duration = 414; initialDepth = 1840.039680; finalDepth = 1805.898653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5170820000001 # Actual altitude: 63.5170820000001 # Commanded vehicle depth: 1805.898653 # Seafloor depth: -1855.898653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.648796 meters # Minimum depth: 1890.039680 meters looking forward 100.000000 meters along route # Maximum depth: 1904.623146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.039680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.147429; longitude = -129.924181; duration = 418; initialDepth = 1834.360009; finalDepth = 1840.039680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1840.03968 # Seafloor depth: -1890.039680 # 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 11 # Segment length 105.865976 meters # Minimum depth: 1884.360009 meters looking forward 100.000000 meters along route # Maximum depth: 1903.740589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.360009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.146661; longitude = -129.924966; duration = 423; initialDepth = 1836.180175; finalDepth = 1834.360009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.9320740000001 # Actual altitude: 68.9320740000001 # Commanded vehicle depth: 1834.360009 # Seafloor depth: -1903.292083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.172896 meters # Minimum depth: 1886.180175 meters looking forward 100.000000 meters along route # Maximum depth: 1904.857869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.180175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145885; longitude = -129.925759; duration = 400; initialDepth = 1848.656428; finalDepth = 1836.180175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.9320740000001 # Actual altitude: 68.9320740000001 # Commanded vehicle depth: 1836.180175 # Seafloor depth: -1886.180175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.563516 meters # Minimum depth: 1898.656428 meters looking forward 100.000000 meters along route # Maximum depth: 1907.172089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.656428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.145150; longitude = -129.926511; duration = 414; initialDepth = 1854.047052; finalDepth = 1848.656428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.36869 # Actual altitude: 53.36869 # Commanded vehicle depth: 1848.656428 # Seafloor depth: -1902.025118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.042216 meters # Minimum depth: 1904.047052 meters looking forward 100.000000 meters along route # Maximum depth: 1925.390955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.047052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.144390; longitude = -129.927287; duration = 420; initialDepth = 1853.122101; finalDepth = 1854.047052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.36869 # Actual altitude: 53.36869 # Commanded vehicle depth: 1854.047052 # Seafloor depth: -1906.902568 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.086255 meters # Minimum depth: 1903.122101 meters looking forward 100.000000 meters along route # Maximum depth: 1919.019808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.122101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.143619; longitude = -129.928075; duration = 408; initialDepth = 1823.756572; finalDepth = 1853.122101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8977070000001 # Actual altitude: 65.8977070000001 # Commanded vehicle depth: 1853.122101 # Seafloor depth: -1919.019808 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.564956 meters # Minimum depth: 1873.756572 meters looking forward 100.000000 meters along route # Maximum depth: 1909.264926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.756572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142870; longitude = -129.928841; duration = 414; initialDepth = 1815.013389; finalDepth = 1823.756572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6174779999999 # Actual altitude: 82.6174779999999 # Commanded vehicle depth: 1823.756572 # Seafloor depth: -1906.374050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.565435 meters # Minimum depth: 1865.013389 meters looking forward 100.000000 meters along route # Maximum depth: 1873.697116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.013389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.142111; longitude = -129.929617; duration = 414; initialDepth = 1813.545779; finalDepth = 1815.013389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.6174779999999 # Actual altitude: 82.6174779999999 # Commanded vehicle depth: 1815.013389 # Seafloor depth: -1873.697116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 49.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 105.435652 meters # Minimum depth: 1863.545779 meters looking forward 100.000000 meters along route # Maximum depth: 1866.191557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.545779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.141351; longitude = -129.930394; duration = 421; initialDepth = 1814.771339; finalDepth = 1813.545779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6837270000001 # Actual altitude: 58.6837270000001 # Commanded vehicle depth: 1813.545779 # Seafloor depth: -1864.990556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.696659 meters # Minimum depth: 1864.771339 meters looking forward 100.000000 meters along route # Maximum depth: 1865.835257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.771339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.140577; longitude = -129.931185; duration = 406; initialDepth = 1814.037040; finalDepth = 1814.771339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4447769999999 # Actual altitude: 51.4447769999999 # Commanded vehicle depth: 1814.771339 # Seafloor depth: -1864.771339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.566875 meters # Minimum depth: 1864.037040 meters looking forward 100.000000 meters along route # Maximum depth: 1870.106796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.037040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139831; longitude = -129.931947; duration = 414; initialDepth = 1819.581512; finalDepth = 1814.037040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.632431 # Actual altitude: 50.632431 # Commanded vehicle depth: 1814.03704 # Seafloor depth: -1864.669471 # 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 11 # Segment length 106.408357 meters # Minimum depth: 1869.581512 meters looking forward 100.000000 meters along route # Maximum depth: 1881.685458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.581512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.139072; longitude = -129.932724; duration = 425; initialDepth = 1821.600608; finalDepth = 1819.581512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.632431 # Actual altitude: 50.632431 # Commanded vehicle depth: 1819.581512 # Seafloor depth: -1869.581512 # 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; } # ####################################################### # # 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 101.883913 meters # Minimum depth: 1871.600608 meters looking forward 100.000000 meters along route # Maximum depth: 1882.060600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.600608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.138291; longitude = -129.933522; duration = 407; # abortOnTimeout = True; initialDepth = 1817.306303; finalDepth = 1821.600608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9871000000001 # Actual altitude: 59.9871000000001 # Commanded vehicle depth: 1821.600608 # Seafloor depth: -1881.587708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.779402 meters # Minimum depth: 1867.306303 meters looking forward 100.000000 meters along route # Maximum depth: 1871.756532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.306303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.137406; longitude = -129.933177; duration = 407; initialDepth = 1815.836443; finalDepth = 1817.306303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.9871000000001 # Actual altitude: 59.9871000000001 # Commanded vehicle depth: 1817.306303 # Seafloor depth: -1871.756532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 122.511185 meters # Minimum depth: 1865.836443 meters looking forward 100.000000 meters along route # Maximum depth: 1868.451721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.836443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.136522; longitude = -129.932832; duration = 490; # abortOnTimeout = True; initialDepth = 1814.910290; finalDepth = 1815.836443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.450229 # Actual altitude: 54.450229 # Commanded vehicle depth: 1815.836443 # Seafloor depth: -1868.451721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.578776 meters # Minimum depth: 1864.910290 meters looking forward 100.000000 meters along route # Maximum depth: 1867.210250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.910290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.135628; longitude = -129.933760; duration = 410; initialDepth = 1815.218485; finalDepth = 1814.910290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.615278 # Actual altitude: 52.615278 # Commanded vehicle depth: 1814.91029 # Seafloor depth: -1865.059857 # 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 9 # Segment length 102.579255 meters # Minimum depth: 1865.218485 meters looking forward 100.000000 meters along route # Maximum depth: 1869.846801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.218485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134879; longitude = -129.934536; duration = 410; initialDepth = 1815.544317; finalDepth = 1815.218485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9607569999998 # Actual altitude: 51.9607569999998 # Commanded vehicle depth: 1815.218485 # Seafloor depth: -1867.179242 # 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 9 # Segment length 102.579732 meters # Minimum depth: 1865.544317 meters looking forward 100.000000 meters along route # Maximum depth: 1868.750514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.544317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.134130; longitude = -129.935313; duration = 410; initialDepth = 1818.529161; finalDepth = 1815.544317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9607569999998 # Actual altitude: 51.9607569999998 # Commanded vehicle depth: 1815.544317 # Seafloor depth: -1865.706732 # 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 9 # Segment length 104.754444 meters # Minimum depth: 1868.529161 meters looking forward 100.000000 meters along route # Maximum depth: 1876.823529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.529161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.133381; longitude = -129.936090; duration = 419; initialDepth = 1825.820666; finalDepth = 1818.529161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162415 # Actual altitude: 50.162415 # Commanded vehicle depth: 1818.529161 # Seafloor depth: -1868.529161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.406454 meters # Minimum depth: 1875.820666 meters looking forward 100.000000 meters along route # Maximum depth: 1919.198932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.820666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.132617; longitude = -129.936883; duration = 401; initialDepth = 1862.365626; finalDepth = 1825.820666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.187923 # Actual altitude: 51.187923 # Commanded vehicle depth: 1825.820666 # Seafloor depth: -1877.008589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.523154 meters # Minimum depth: 1917.017798 meters looking forward 100.000000 meters along route # Maximum depth: 1931.909569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.365626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131884; longitude = -129.937643; duration = 414; initialDepth = 1856.902488; finalDepth = 1862.365626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6521720928451 # Actual altitude: 54.6521720928451 # Commanded vehicle depth: 1862.36562590715 # Seafloor depth: -1917.017798 # 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 9 # Segment length 101.639655 meters # Minimum depth: 1906.902488 meters looking forward 100.000000 meters along route # Maximum depth: 1928.717138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.902488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.131128; longitude = -129.938427; duration = 406; initialDepth = 1858.017869; finalDepth = 1856.902488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.81465 # Actual altitude: 71.81465 # Commanded vehicle depth: 1856.902488 # Seafloor depth: -1928.717138 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.582122 meters # Minimum depth: 1908.017869 meters looking forward 100.000000 meters along route # Maximum depth: 1913.860280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.017869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.130386; longitude = -129.939196; duration = 410; initialDepth = 1858.320761; finalDepth = 1858.017869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.81465 # Actual altitude: 71.81465 # Commanded vehicle depth: 1858.017869 # Seafloor depth: -1908.342263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.582599 meters # Minimum depth: 1908.320761 meters looking forward 100.000000 meters along route # Maximum depth: 1910.070574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.320761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.129637; longitude = -129.939973; duration = 410; initialDepth = 1857.171790; finalDepth = 1858.320761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5818980000001 # Actual altitude: 50.5818980000001 # Commanded vehicle depth: 1858.320761 # Seafloor depth: -1908.902659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.583077 meters # Minimum depth: 1907.171790 meters looking forward 100.000000 meters along route # Maximum depth: 1910.213317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.171790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128889; longitude = -129.940750; duration = 410; initialDepth = 1856.417343; finalDepth = 1857.171790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.309209 # Actual altitude: 52.309209 # Commanded vehicle depth: 1857.17179 # Seafloor depth: -1909.480999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.878204 meters # Minimum depth: 1906.417343 meters looking forward 100.000000 meters along route # Maximum depth: 1912.953180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.417343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.128140; longitude = -129.941526; duration = 419; initialDepth = 1833.311411; finalDepth = 1856.417343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8374569999999 # Actual altitude: 52.8374569999999 # Commanded vehicle depth: 1856.417343 # Seafloor depth: -1909.254800 # 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 9 # Segment length 100.289385 meters # Minimum depth: 1883.311411 meters looking forward 100.000000 meters along route # Maximum depth: 1908.381724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.311411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.127374; longitude = -129.942320; duration = 401; initialDepth = 1830.084811; finalDepth = 1833.311411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0703130000002 # Actual altitude: 75.0703130000002 # Commanded vehicle depth: 1833.311411 # Seafloor depth: -1908.381724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 103.646874 meters # Minimum depth: 1880.084811 meters looking forward 100.000000 meters along route # Maximum depth: 1889.064479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.084811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.126642; longitude = -129.943080; duration = 414; initialDepth = 1803.493677; finalDepth = 1830.084811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0703130000002 # Actual altitude: 75.0703130000002 # Commanded vehicle depth: 1830.084811 # Seafloor depth: -1883.295796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.402277 meters # Minimum depth: 1853.493677 meters looking forward 100.000000 meters along route # Maximum depth: 1881.992915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.493677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125886; longitude = -129.943864; duration = 425; initialDepth = 1801.897956; finalDepth = 1803.493677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6483050000002 # Actual altitude: 77.6483050000002 # Commanded vehicle depth: 1803.493677 # Seafloor depth: -1881.141982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.543944 meters # Minimum depth: 1851.897956 meters looking forward 100.000000 meters along route # Maximum depth: 1862.477308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.897956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.125109; longitude = -129.944670; duration = 402; initialDepth = 1803.431633; finalDepth = 1801.897956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.6483050000002 # Actual altitude: 77.6483050000002 # Commanded vehicle depth: 1801.897956 # Seafloor depth: -1852.828233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.59; 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 129.472344 meters # Minimum depth: 1853.431633 meters looking forward 100.000000 meters along route # Maximum depth: 1860.831360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.431633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.124375; longitude = -129.945431; duration = 517; # abortOnTimeout = True; initialDepth = 1807.652796; finalDepth = 1803.431633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5926590000001 # Actual altitude: 53.5926590000001 # Commanded vehicle depth: 1803.431633 # Seafloor depth: -1857.024292 # 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 8 # Segment length 101.308044 meters # Minimum depth: 1857.652796 meters looking forward 100.000000 meters along route # Maximum depth: 1877.451056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.652796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.123552; longitude = -129.944245; duration = 405; initialDepth = 1826.970698; finalDepth = 1807.652796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5926590000001 # Actual altitude: 53.5926590000001 # Commanded vehicle depth: 1807.652796 # Seafloor depth: -1857.652796 # 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 8 # Segment length 103.510572 meters # Minimum depth: 1876.970698 meters looking forward 100.000000 meters along route # Maximum depth: 1895.454571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.970698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122908; longitude = -129.943316; duration = 414; initialDepth = 1790.846300; finalDepth = 1826.970698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1826.970698 # Seafloor depth: -1876.970698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.623661 meters # Minimum depth: 1840.846300 meters looking forward 100.000000 meters along route # Maximum depth: 1891.404979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.846300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122251; longitude = -129.942368; duration = 414; initialDepth = 1785.605870; finalDepth = 1790.846300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 100.558679 # Actual altitude: 100 # Commanded vehicle depth: 1790.8463 # Seafloor depth: -1891.404979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 98.006557 meters # Minimum depth: 1835.605870 meters looking forward 100.000000 meters along route # Maximum depth: 1839.219116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.605870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121592; longitude = -129.941418; duration = 392; # abortOnTimeout = True; initialDepth = 1786.937506; finalDepth = 1785.605870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.558679 # Actual altitude: 100 # Commanded vehicle depth: 1785.60587 # Seafloor depth: -1839.219116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 60.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.332499 meters # Minimum depth: 1836.937506 meters looking forward 100.000000 meters along route # Maximum depth: 1847.052238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.937506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120825; longitude = -129.942044; duration = 405; initialDepth = 1790.759419; finalDepth = 1786.937506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6132459999999 # Actual altitude: 53.6132459999999 # Commanded vehicle depth: 1786.937506 # Seafloor depth: -1837.245699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.332853 meters # Minimum depth: 1840.759419 meters looking forward 100.000000 meters along route # Maximum depth: 1848.907425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.759419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120032; longitude = -129.942691; duration = 405; initialDepth = 1763.338551; finalDepth = 1790.759419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1376339999999 # Actual altitude: 56.1376339999999 # Commanded vehicle depth: 1790.759419 # Seafloor depth: -1846.897053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.700964 meters # Minimum depth: 1813.338551 meters looking forward 100.000000 meters along route # Maximum depth: 1838.117629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.338551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119239; longitude = -129.943338; duration = 406; initialDepth = 1755.209681; finalDepth = 1763.338551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.779078 # Actual altitude: 74.779078 # Commanded vehicle depth: 1763.338551 # Seafloor depth: -1838.117629 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.965799 meters # Minimum depth: 1805.209681 meters looking forward 100.000000 meters along route # Maximum depth: 1814.253360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.209681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118443; longitude = -129.943988; duration = 403; initialDepth = 1746.181066; finalDepth = 1755.209681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.779078 # Actual altitude: 74.779078 # Commanded vehicle depth: 1755.209681 # Seafloor depth: -1812.911820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.333911 meters # Minimum depth: 1796.181066 meters looking forward 100.000000 meters along route # Maximum depth: 1808.869438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.181066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117652; longitude = -129.944633; duration = 405; initialDepth = 1748.759355; finalDepth = 1746.181066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.032516 # Actual altitude: 61.032516 # Commanded vehicle depth: 1746.181066 # Seafloor depth: -1807.213582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.334263 meters # Minimum depth: 1798.759355 meters looking forward 100.000000 meters along route # Maximum depth: 1802.073239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.759355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116859; longitude = -129.945280; duration = 405; initialDepth = 1751.076328; finalDepth = 1748.759355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.032516 # Actual altitude: 61.032516 # Commanded vehicle depth: 1748.759355 # Seafloor depth: -1798.759355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.544721 meters # Minimum depth: 1801.076328 meters looking forward 100.000000 meters along route # Maximum depth: 1808.001690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.076328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116066; longitude = -129.945927; duration = 406; initialDepth = 1758.010695; finalDepth = 1751.076328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.236408 # Actual altitude: 50.236408 # Commanded vehicle depth: 1751.076328 # Seafloor depth: -1801.312736 # 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 7 # Segment length 101.124864 meters # Minimum depth: 1808.010695 meters looking forward 100.000000 meters along route # Maximum depth: 1854.015505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.010695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115271; longitude = -129.946576; duration = 404; initialDepth = 1794.817135; finalDepth = 1758.010695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.236408 # Actual altitude: 50.236408 # Commanded vehicle depth: 1758.010695 # Seafloor depth: -1808.010695 # 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 7 # Segment length 101.335322 meters # Minimum depth: 1854.971869 meters looking forward 100.000000 meters along route # Maximum depth: 1870.962917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.817135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114480; longitude = -129.947222; duration = 405; initialDepth = 1811.342619; finalDepth = 1794.817135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1547342416904 # Actual altitude: 60.1547342416904 # Commanded vehicle depth: 1794.81713475831 # Seafloor depth: -1854.971869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.335675 meters # Minimum depth: 1861.342619 meters looking forward 100.000000 meters along route # Maximum depth: 1870.232770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.342619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113687; longitude = -129.947869; duration = 405; initialDepth = 1816.618079; finalDepth = 1811.342619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1547342416904 # Actual altitude: 60.1547342416904 # Commanded vehicle depth: 1811.342619 # Seafloor depth: -1870.232770 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.388472 meters # Minimum depth: 1866.618079 meters looking forward 100.000000 meters along route # Maximum depth: 1879.600073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.618079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112893; longitude = -129.948516; duration = 405; initialDepth = 1822.569075; finalDepth = 1816.618079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8901510000001 # Actual altitude: 58.8901510000001 # Commanded vehicle depth: 1816.618079 # Seafloor depth: -1866.618079 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.283935 meters # Minimum depth: 1872.569075 meters looking forward 100.000000 meters along route # Maximum depth: 1883.227741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.569075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112100; longitude = -129.949164; duration = 405; initialDepth = 1816.602567; finalDepth = 1822.569075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.569075 # Seafloor depth: -1872.569075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.336733 meters # Minimum depth: 1866.602567 meters looking forward 100.000000 meters along route # Maximum depth: 1879.018944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.602567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111307; longitude = -129.949811; duration = 405; initialDepth = 1821.735574; finalDepth = 1816.602567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7715490000001 # Actual altitude: 58.7715490000001 # Commanded vehicle depth: 1816.602567 # Seafloor depth: -1875.374116 # 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 7 # Segment length 101.337086 meters # Minimum depth: 1871.735574 meters looking forward 100.000000 meters along route # Maximum depth: 1882.182426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.735574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110514; longitude = -129.950458; duration = 405; initialDepth = 1802.880431; finalDepth = 1821.735574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7715490000001 # Actual altitude: 58.7715490000001 # Commanded vehicle depth: 1821.735574 # Seafloor depth: -1873.556486 # 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 7 # Segment length 101.337438 meters # Minimum depth: 1852.880431 meters looking forward 100.000000 meters along route # Maximum depth: 1874.608036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.880431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109721; longitude = -129.951105; duration = 405; initialDepth = 1790.143065; finalDepth = 1802.880431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.727605 # Actual altitude: 71.727605 # Commanded vehicle depth: 1802.880431 # Seafloor depth: -1874.608036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.337792 meters # Minimum depth: 1840.143065 meters looking forward 100.000000 meters along route # Maximum depth: 1863.295047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.143065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108928; longitude = -129.951752; duration = 405; initialDepth = 1787.914076; finalDepth = 1790.143065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.727605 # Actual altitude: 71.727605 # Commanded vehicle depth: 1790.143065 # Seafloor depth: -1852.860963 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.338144 meters # Minimum depth: 1837.914076 meters looking forward 100.000000 meters along route # Maximum depth: 1860.975181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.914076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108134; longitude = -129.952399; duration = 405; initialDepth = 1810.880213; finalDepth = 1787.914076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7178980000001 # Actual altitude: 62.7178980000001 # Commanded vehicle depth: 1787.914076 # Seafloor depth: -1844.627955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.338497 meters # Minimum depth: 1860.880213 meters looking forward 100.000000 meters along route # Maximum depth: 1862.955747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.880213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107341; longitude = -129.953047; duration = 405; initialDepth = 1811.847998; finalDepth = 1810.880213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7138789999999 # Actual altitude: 56.7138789999999 # Commanded vehicle depth: 1810.880213 # Seafloor depth: -1862.178648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.338850 meters # Minimum depth: 1861.847998 meters looking forward 100.000000 meters along route # Maximum depth: 1864.721726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.847998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106548; longitude = -129.953694; duration = 405; initialDepth = 1812.200724; finalDepth = 1811.847998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2984350000002 # Actual altitude: 51.2984350000002 # Commanded vehicle depth: 1811.847998 # Seafloor depth: -1861.847998 # 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 7 # Segment length 101.339203 meters # Minimum depth: 1862.200724 meters looking forward 100.000000 meters along route # Maximum depth: 1867.825851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.200724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105755; longitude = -129.954341; duration = 405; initialDepth = 1814.968946; finalDepth = 1812.200724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.289174 # Actual altitude: 50.289174 # Commanded vehicle depth: 1812.200724 # Seafloor depth: -1862.489898 # 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 7 # Segment length 101.339555 meters # Minimum depth: 1864.968946 meters looking forward 100.000000 meters along route # Maximum depth: 1868.102395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.968946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104962; longitude = -129.954988; duration = 405; initialDepth = 1811.725481; finalDepth = 1814.968946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3360990000001 # Actual altitude: 52.3360990000001 # Commanded vehicle depth: 1814.968946 # Seafloor depth: -1867.305045 # 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 7 # Segment length 101.339908 meters # Minimum depth: 1861.725481 meters looking forward 100.000000 meters along route # Maximum depth: 1865.216066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.725481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104169; longitude = -129.955636; duration = 405; initialDepth = 1811.780712; finalDepth = 1811.725481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.490585 # Actual altitude: 53.490585 # Commanded vehicle depth: 1811.725481 # Seafloor depth: -1865.216066 # 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 7 # Segment length 101.340262 meters # Minimum depth: 1861.780712 meters looking forward 100.000000 meters along route # Maximum depth: 1870.207158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.780712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103376; longitude = -129.956283; duration = 405; initialDepth = 1820.277773; finalDepth = 1811.780712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.490585 # Actual altitude: 53.490585 # Commanded vehicle depth: 1811.780712 # Seafloor depth: -1862.113073 # 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 7 # Segment length 101.340614 meters # Minimum depth: 1870.277773 meters looking forward 100.000000 meters along route # Maximum depth: 1876.581719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.277773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102582; longitude = -129.956930; duration = 405; initialDepth = 1815.425811; finalDepth = 1820.277773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.332361 # Actual altitude: 50.332361 # Commanded vehicle depth: 1820.277773 # Seafloor depth: -1870.277773 # 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 7 # Segment length 101.340967 meters # Minimum depth: 1865.425811 meters looking forward 100.000000 meters along route # Maximum depth: 1874.247766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.425811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101789; longitude = -129.957577; duration = 405; initialDepth = 1813.595265; finalDepth = 1815.425811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8219549999999 # Actual altitude: 58.8219549999999 # Commanded vehicle depth: 1815.425811 # Seafloor depth: -1874.247766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.341320 meters # Minimum depth: 1863.595265 meters looking forward 100.000000 meters along route # Maximum depth: 1865.815152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.595265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100996; longitude = -129.958224; duration = 405; initialDepth = 1811.621664; finalDepth = 1813.595265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8219549999999 # Actual altitude: 58.8219549999999 # Commanded vehicle depth: 1813.595265 # Seafloor depth: -1865.330199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.341672 meters # Minimum depth: 1861.621664 meters looking forward 100.000000 meters along route # Maximum depth: 1865.374582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.621664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100203; longitude = -129.958872; duration = 405; initialDepth = 1814.297796; finalDepth = 1811.621664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3858809999999 # Actual altitude: 52.3858809999999 # Commanded vehicle depth: 1811.621664 # Seafloor depth: -1864.007545 # 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 7 # Segment length 101.342026 meters # Minimum depth: 1864.297796 meters looking forward 100.000000 meters along route # Maximum depth: 1866.904884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.297796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099410; longitude = -129.959519; duration = 405; initialDepth = 1814.464310; finalDepth = 1814.297796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3858809999999 # Actual altitude: 52.3858809999999 # Commanded vehicle depth: 1814.297796 # Seafloor depth: -1864.297796 # 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 7 # Segment length 101.342378 meters # Minimum depth: 1864.464310 meters looking forward 100.000000 meters along route # Maximum depth: 1866.742171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.464310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098617; longitude = -129.960166; duration = 405; initialDepth = 1813.148343; finalDepth = 1814.464310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1704929999999 # Actual altitude: 51.1704929999999 # Commanded vehicle depth: 1814.46431 # Seafloor depth: -1865.634803 # 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 7 # Segment length 101.342732 meters # Minimum depth: 1863.148343 meters looking forward 100.000000 meters along route # Maximum depth: 1866.946991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.148343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097824; longitude = -129.960813; duration = 405; initialDepth = 1812.346465; finalDepth = 1813.148343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4454519999999 # Actual altitude: 52.4454519999999 # Commanded vehicle depth: 1813.148343 # Seafloor depth: -1865.593795 # 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 7 # Segment length 101.343084 meters # Minimum depth: 1862.346465 meters looking forward 100.000000 meters along route # Maximum depth: 1864.949738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.346465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097030; longitude = -129.961461; duration = 405; initialDepth = 1811.182203; finalDepth = 1812.346465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4454519999999 # Actual altitude: 52.4454519999999 # Commanded vehicle depth: 1812.346465 # Seafloor depth: -1864.475839 # 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 7 # Segment length 101.343437 meters # Minimum depth: 1861.182203 meters looking forward 100.000000 meters along route # Maximum depth: 1864.363511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.182203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096237; longitude = -129.962108; duration = 405; initialDepth = 1811.140146; finalDepth = 1811.182203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1293739999999 # Actual altitude: 52.1293739999999 # Commanded vehicle depth: 1811.182203 # Seafloor depth: -1862.316871 # 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 7 # Segment length 101.343790 meters # Minimum depth: 1861.140146 meters looking forward 100.000000 meters along route # Maximum depth: 1863.829892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.140146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095444; longitude = -129.962755; duration = 405; initialDepth = 1810.748246; finalDepth = 1811.140146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1346679999999 # Actual altitude: 51.1346679999999 # Commanded vehicle depth: 1811.140146 # Seafloor depth: -1862.154622 # 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 7 # Segment length 102.557407 meters # Minimum depth: 1860.748246 meters looking forward 100.000000 meters along route # Maximum depth: 1867.057068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.748246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094651; longitude = -129.963402; duration = 410; initialDepth = 1803.053601; finalDepth = 1810.748246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0144760000001 # Actual altitude: 51.0144760000001 # Commanded vehicle depth: 1810.748246 # Seafloor depth: -1860.773890 # 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 7 # Segment length 100.131233 meters # Minimum depth: 1853.053601 meters looking forward 100.000000 meters along route # Maximum depth: 1865.916419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.053601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093848; longitude = -129.964057; duration = 400; initialDepth = 1759.488251; finalDepth = 1803.053601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8628179999998 # Actual altitude: 62.8628179999998 # Commanded vehicle depth: 1803.053601 # Seafloor depth: -1865.916419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.344848 meters # Minimum depth: 1809.488251 meters looking forward 100.000000 meters along route # Maximum depth: 1854.324051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.488251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093065; longitude = -129.964697; duration = 405; initialDepth = 1736.474993; finalDepth = 1759.488251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.8358000000001 # Actual altitude: 94.8358000000001 # Commanded vehicle depth: 1759.488251 # Seafloor depth: -1854.324051 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.345202 meters # Minimum depth: 1786.474993 meters looking forward 100.000000 meters along route # Maximum depth: 1808.882410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.474993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092271; longitude = -129.965344; duration = 405; initialDepth = 1726.123486; finalDepth = 1736.474993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.8358000000001 # Actual altitude: 94.8358000000001 # Commanded vehicle depth: 1736.474993 # Seafloor depth: -1808.882410 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 56.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.401159 meters # Minimum depth: 1776.123486 meters looking forward 100.000000 meters along route # Maximum depth: 1785.440814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.123486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091478; longitude = -129.965991; duration = 409; initialDepth = 1726.194409; finalDepth = 1726.123486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.4074169999999 # Actual altitude: 72.4074169999999 # Commanded vehicle depth: 1726.123486 # Seafloor depth: -1785.440814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.290304 meters # Minimum depth: 1776.194409 meters looking forward 100.000000 meters along route # Maximum depth: 1779.319868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.194409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090677; longitude = -129.966645; duration = 401; initialDepth = 1725.641006; finalDepth = 1726.194409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3173280000001 # Actual altitude: 59.3173280000001 # Commanded vehicle depth: 1726.194409 # Seafloor depth: -1776.194409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.346261 meters # Minimum depth: 1775.641006 meters looking forward 100.000000 meters along route # Maximum depth: 1777.680750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.641006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089892; longitude = -129.967285; duration = 405; initialDepth = 1724.986696; finalDepth = 1725.641006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.648443 # Actual altitude: 50.648443 # Commanded vehicle depth: 1725.641006 # Seafloor depth: -1776.289449 # 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 7 # Segment length 101.346613 meters # Minimum depth: 1774.986696 meters looking forward 100.000000 meters along route # Maximum depth: 1777.459569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.986696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089099; longitude = -129.967933; duration = 405; initialDepth = 1726.307531; finalDepth = 1724.986696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0939350000001 # Actual altitude: 51.0939350000001 # Commanded vehicle depth: 1724.986696 # Seafloor depth: -1776.080631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.244906 meters # Minimum depth: 1776.307531 meters looking forward 100.000000 meters along route # Maximum depth: 1779.456727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.307531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088306; longitude = -129.968580; duration = 408; initialDepth = 1727.496165; finalDepth = 1726.307531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0939350000001 # Actual altitude: 51.0939350000001 # Commanded vehicle depth: 1726.307531 # Seafloor depth: -1776.307531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.449381 meters # Minimum depth: 1777.496165 meters looking forward 100.000000 meters along route # Maximum depth: 1779.956104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.496165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087506; longitude = -129.969233; duration = 401; initialDepth = 1729.218427; finalDepth = 1727.496165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6682880000001 # Actual altitude: 50.6682880000001 # Commanded vehicle depth: 1727.496165 # Seafloor depth: -1778.164453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.347672 meters # Minimum depth: 1779.218427 meters looking forward 100.000000 meters along route # Maximum depth: 1782.234810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.218427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086719; longitude = -129.969874; duration = 405; initialDepth = 1729.783851; finalDepth = 1729.218427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6682880000001 # Actual altitude: 50.6682880000001 # Commanded vehicle depth: 1729.218427 # Seafloor depth: -1779.691233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 104.195239 meters # Minimum depth: 1779.783851 meters looking forward 100.000000 meters along route # Maximum depth: 1783.736901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.783851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085926; longitude = -129.970522; duration = 416; initialDepth = 1712.098071; finalDepth = 1729.783851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.23558 # Actual altitude: 52.23558 # Commanded vehicle depth: 1729.783851 # Seafloor depth: -1782.019431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.942716 meters # Minimum depth: 1762.098071 meters looking forward 100.000000 meters along route # Maximum depth: 1780.762271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.098071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085111; longitude = -129.971187; duration = 407; initialDepth = 1696.999584; finalDepth = 1712.098071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.6642000000002 # Actual altitude: 68.6642000000002 # Commanded vehicle depth: 1712.098071 # Seafloor depth: -1780.762271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.20; 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 6 # Segment length 152.436966 meters # Minimum depth: 1746.999584 meters looking forward 100.000000 meters along route # Maximum depth: 1760.027130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.999584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084313; longitude = -129.971838; duration = 609; # abortOnTimeout = True; initialDepth = 1696.775674; finalDepth = 1696.999584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.6642000000002 # Actual altitude: 68.6642000000002 # Commanded vehicle depth: 1696.999584 # Seafloor depth: -1760.027130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.20; 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 5 # Segment length 77.956263 meters # Minimum depth: 1746.775674 meters looking forward 100.000000 meters along route # Maximum depth: 1751.927921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.775674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085003; longitude = -129.973542; duration = 311; # abortOnTimeout = True; initialDepth = 1702.230248; finalDepth = 1696.775674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.027546 # Actual altitude: 63.027546 # Commanded vehicle depth: 1696.775674 # Seafloor depth: -1746.788391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.668998 meters # Minimum depth: 1752.230248 meters looking forward 100.000000 meters along route # Maximum depth: 1764.420106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.230248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085614; longitude = -129.973046; duration = 406; initialDepth = 1714.670622; finalDepth = 1702.230248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0127170000001 # Actual altitude: 50.0127170000001 # Commanded vehicle depth: 1702.230248 # Seafloor depth: -1752.230248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.668644 meters # Minimum depth: 1764.670622 meters looking forward 100.000000 meters along route # Maximum depth: 1781.022075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.670622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086410; longitude = -129.972399; duration = 406; initialDepth = 1728.204862; finalDepth = 1714.670622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1714.670622 # Seafloor depth: -1764.670622 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.668292 meters # Minimum depth: 1778.204862 meters looking forward 100.000000 meters along route # Maximum depth: 1781.119117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.204862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087207; longitude = -129.971751; duration = 406; initialDepth = 1728.723983; finalDepth = 1728.204862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6393779999999 # Actual altitude: 50.6393779999999 # Commanded vehicle depth: 1728.204862 # Seafloor depth: -1778.844240 # 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 5 # Segment length 101.712486 meters # Minimum depth: 1778.723983 meters looking forward 100.000000 meters along route # Maximum depth: 1780.514647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.723983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088003; longitude = -129.971104; duration = 406; initialDepth = 1728.114853; finalDepth = 1728.723983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5389559999999 # Actual altitude: 51.5389559999999 # Commanded vehicle depth: 1728.723983 # Seafloor depth: -1780.262939 # 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 5 # Segment length 101.623036 meters # Minimum depth: 1778.114853 meters looking forward 100.000000 meters along route # Maximum depth: 1780.964585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.114853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088800; longitude = -129.970457; duration = 406; initialDepth = 1728.574333; finalDepth = 1728.114853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5389559999999 # Actual altitude: 51.5389559999999 # Commanded vehicle depth: 1728.114853 # Seafloor depth: -1778.782014 # 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 5 # Segment length 101.667232 meters # Minimum depth: 1778.574333 meters looking forward 100.000000 meters along route # Maximum depth: 1781.532078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.574333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089596; longitude = -129.969810; duration = 406; initialDepth = 1728.300879; finalDepth = 1728.574333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1666319999999 # Actual altitude: 52.1666319999999 # Commanded vehicle depth: 1728.574333 # Seafloor depth: -1780.740965 # 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 5 # Segment length 102.386551 meters # Minimum depth: 1778.300879 meters looking forward 100.000000 meters along route # Maximum depth: 1780.137225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.300879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090393; longitude = -129.969162; duration = 409; initialDepth = 1729.344160; finalDepth = 1728.300879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1666319999999 # Actual altitude: 52.1666319999999 # Commanded vehicle depth: 1728.300879 # Seafloor depth: -1779.437037 # 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 5 # Segment length 100.946852 meters # Minimum depth: 1779.344160 meters looking forward 100.000000 meters along route # Maximum depth: 1790.096417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.344160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091195; longitude = -129.968511; duration = 403; initialDepth = 1740.289097; finalDepth = 1729.344160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.136158 # Actual altitude: 51.136158 # Commanded vehicle depth: 1729.34416 # Seafloor depth: -1779.407366 # 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 5 # Segment length 101.666172 meters # Minimum depth: 1790.289097 meters looking forward 100.000000 meters along route # Maximum depth: 1805.420496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.289097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091985; longitude = -129.967868; duration = 406; initialDepth = 1756.112788; finalDepth = 1740.289097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0632059999998 # Actual altitude: 50.0632059999998 # Commanded vehicle depth: 1740.289097 # Seafloor depth: -1790.289097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.060601 meters # Minimum depth: 1806.112788 meters looking forward 100.000000 meters along route # Maximum depth: 1828.163103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.112788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092782; longitude = -129.967221; duration = 412; initialDepth = 1778.898313; finalDepth = 1756.112788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.112788 # Seafloor depth: -1806.112788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.270682 meters # Minimum depth: 1828.898313 meters looking forward 100.000000 meters along route # Maximum depth: 1840.198482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.898313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093589; longitude = -129.966565; duration = 401; initialDepth = 1780.775382; finalDepth = 1778.898313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.898313 # Seafloor depth: -1828.898313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.665112 meters # Minimum depth: 1830.775382 meters looking forward 100.000000 meters along route # Maximum depth: 1838.820852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.775382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094375; longitude = -129.965926; duration = 406; initialDepth = 1779.802133; finalDepth = 1780.775382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7611669999999 # Actual altitude: 57.7611669999999 # Commanded vehicle depth: 1780.775382 # Seafloor depth: -1838.536549 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.664759 meters # Minimum depth: 1829.802133 meters looking forward 100.000000 meters along route # Maximum depth: 1831.970949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.802133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095171; longitude = -129.965279; duration = 406; initialDepth = 1777.577986; finalDepth = 1779.802133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7611669999999 # Actual altitude: 57.7611669999999 # Commanded vehicle depth: 1779.802133 # Seafloor depth: -1831.518747 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.664405 meters # Minimum depth: 1827.577986 meters looking forward 100.000000 meters along route # Maximum depth: 1845.702388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.577986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095968; longitude = -129.964632; duration = 406; initialDepth = 1795.538810; finalDepth = 1777.577986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7166140000002 # Actual altitude: 51.7166140000002 # Commanded vehicle depth: 1777.577986 # Seafloor depth: -1828.765285 # 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 5 # Segment length 101.664053 meters # Minimum depth: 1845.538810 meters looking forward 100.000000 meters along route # Maximum depth: 1854.692856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.538810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096764; longitude = -129.963985; duration = 406; initialDepth = 1800.726948; finalDepth = 1795.538810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1872989999999 # Actual altitude: 51.1872989999999 # Commanded vehicle depth: 1795.53881 # Seafloor depth: -1845.538810 # 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 5 # Segment length 101.663699 meters # Minimum depth: 1850.726948 meters looking forward 100.000000 meters along route # Maximum depth: 1854.396392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.726948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097561; longitude = -129.963337; duration = 406; initialDepth = 1790.695538; finalDepth = 1800.726948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.141879 # Actual altitude: 51.141879 # Commanded vehicle depth: 1800.726948 # Seafloor depth: -1851.868827 # 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 5 # Segment length 101.879597 meters # Minimum depth: 1840.695538 meters looking forward 100.000000 meters along route # Maximum depth: 1855.696061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.695538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098357; longitude = -129.962690; duration = 407; initialDepth = 1780.382363; finalDepth = 1790.695538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1317300000001 # Actual altitude: 63.1317300000001 # Commanded vehicle depth: 1790.695538 # Seafloor depth: -1853.827268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.446741 meters # Minimum depth: 1830.382363 meters looking forward 100.000000 meters along route # Maximum depth: 1840.801956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.382363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099155; longitude = -129.962042; duration = 405; initialDepth = 1775.987219; finalDepth = 1780.382363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1317300000001 # Actual altitude: 63.1317300000001 # Commanded vehicle depth: 1780.382363 # Seafloor depth: -1840.667681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.662640 meters # Minimum depth: 1825.987219 meters looking forward 100.000000 meters along route # Maximum depth: 1841.132971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.987219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099950; longitude = -129.961396; duration = 406; initialDepth = 1786.860612; finalDepth = 1775.987219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.285318 # Actual altitude: 60.285318 # Commanded vehicle depth: 1775.987219 # Seafloor depth: -1829.776538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.553630 meters # Minimum depth: 1836.860612 meters looking forward 100.000000 meters along route # Maximum depth: 1844.228428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.860612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100747; longitude = -129.960749; duration = 410; initialDepth = 1792.997202; finalDepth = 1786.860612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2192360000001 # Actual altitude: 56.2192360000001 # Commanded vehicle depth: 1786.860612 # Seafloor depth: -1843.079848 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.770589 meters # Minimum depth: 1842.997202 meters looking forward 100.000000 meters along route # Maximum depth: 1868.206789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.997202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101550; longitude = -129.960096; duration = 403; initialDepth = 1812.355566; finalDepth = 1792.997202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2192360000001 # Actual altitude: 56.2192360000001 # Commanded vehicle depth: 1792.997202 # Seafloor depth: -1842.997202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.661580 meters # Minimum depth: 1862.355566 meters looking forward 100.000000 meters along route # Maximum depth: 1869.671916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.355566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102340; longitude = -129.959454; duration = 406; initialDepth = 1812.254494; finalDepth = 1812.355566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1016400000001 # Actual altitude: 56.1016400000001 # Commanded vehicle depth: 1812.355566 # Seafloor depth: -1868.457206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.227649 meters # Minimum depth: 1862.254494 meters looking forward 100.000000 meters along route # Maximum depth: 1865.625383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.254494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103136; longitude = -129.958807; duration = 412; initialDepth = 1812.667547; finalDepth = 1812.254494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1016400000001 # Actual altitude: 56.1016400000001 # Commanded vehicle depth: 1812.254494 # Seafloor depth: -1863.596493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.094451 meters # Minimum depth: 1862.667547 meters looking forward 100.000000 meters along route # Maximum depth: 1865.114870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.667547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103945; longitude = -129.958150; duration = 400; initialDepth = 1812.898325; finalDepth = 1812.667547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4473230000001 # Actual altitude: 52.4473230000001 # Commanded vehicle depth: 1812.667547 # Seafloor depth: -1865.114870 # 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 5 # Segment length 101.660521 meters # Minimum depth: 1862.898325 meters looking forward 100.000000 meters along route # Maximum depth: 1866.867812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.898325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104729; longitude = -129.957512; duration = 406; initialDepth = 1814.866046; finalDepth = 1812.898325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4473230000001 # Actual altitude: 52.4473230000001 # Commanded vehicle depth: 1812.898325 # Seafloor depth: -1862.898325 # 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 5 # Segment length 101.660167 meters # Minimum depth: 1864.866046 meters looking forward 100.000000 meters along route # Maximum depth: 1866.849010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.866046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105526; longitude = -129.956865; duration = 406; initialDepth = 1811.243114; finalDepth = 1814.866046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8276549999998 # Actual altitude: 50.8276549999998 # Commanded vehicle depth: 1814.866046 # Seafloor depth: -1865.693701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.659814 meters # Minimum depth: 1861.243114 meters looking forward 100.000000 meters along route # Maximum depth: 1864.846130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.243114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106322; longitude = -129.956218; duration = 406; initialDepth = 1811.583426; finalDepth = 1811.243114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8578259999999 # Actual altitude: 52.8578259999999 # Commanded vehicle depth: 1811.243114 # Seafloor depth: -1864.100940 # 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 5 # Segment length 101.659461 meters # Minimum depth: 1861.583426 meters looking forward 100.000000 meters along route # Maximum depth: 1863.987782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.583426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107118; longitude = -129.955571; duration = 406; initialDepth = 1811.374894; finalDepth = 1811.583426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8578259999999 # Actual altitude: 52.8578259999999 # Commanded vehicle depth: 1811.583426 # Seafloor depth: -1862.936155 # 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 5 # Segment length 101.659108 meters # Minimum depth: 1861.374894 meters looking forward 100.000000 meters along route # Maximum depth: 1863.807907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.374894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107915; longitude = -129.954924; duration = 406; initialDepth = 1811.677013; finalDepth = 1811.374894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5556309999999 # Actual altitude: 51.5556309999999 # Commanded vehicle depth: 1811.374894 # Seafloor depth: -1862.930525 # 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 5 # Segment length 102.046694 meters # Minimum depth: 1861.677013 meters looking forward 100.000000 meters along route # Maximum depth: 1864.814311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.677013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108711; longitude = -129.954276; duration = 408; initialDepth = 1811.655075; finalDepth = 1811.677013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5556309999999 # Actual altitude: 51.5556309999999 # Commanded vehicle depth: 1811.677013 # Seafloor depth: -1862.535169 # 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 5 # Segment length 101.270462 meters # Minimum depth: 1861.655075 meters looking forward 100.000000 meters along route # Maximum depth: 1866.727180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.655075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109511; longitude = -129.953627; duration = 405; initialDepth = 1816.667278; finalDepth = 1811.655075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.858156 # Actual altitude: 50.858156 # Commanded vehicle depth: 1811.655075 # Seafloor depth: -1861.698602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.658049 meters # Minimum depth: 1866.667278 meters looking forward 100.000000 meters along route # Maximum depth: 1879.261219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.667278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110304; longitude = -129.952982; duration = 406; initialDepth = 1827.439077; finalDepth = 1816.667278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.043527 # Actual altitude: 50.043527 # Commanded vehicle depth: 1816.667278 # Seafloor depth: -1866.667278 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.720694 meters # Minimum depth: 1877.439077 meters looking forward 100.000000 meters along route # Maximum depth: 1885.748062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.439077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111101; longitude = -129.952335; duration = 410; initialDepth = 1820.973268; finalDepth = 1827.439077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5107720000001 # Actual altitude: 53.5107720000001 # Commanded vehicle depth: 1827.439077 # Seafloor depth: -1880.949849 # 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 5 # Segment length 100.594343 meters # Minimum depth: 1870.973268 meters looking forward 100.000000 meters along route # Maximum depth: 1878.770553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.973268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111906; longitude = -129.951681; duration = 402; initialDepth = 1812.062560; finalDepth = 1820.973268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1553470000001 # Actual altitude: 56.1553470000001 # Commanded vehicle depth: 1820.973268 # Seafloor depth: -1877.128615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.656989 meters # Minimum depth: 1862.062560 meters looking forward 100.000000 meters along route # Maximum depth: 1872.506735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.062560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112694; longitude = -129.951040; duration = 406; initialDepth = 1795.474844; finalDepth = 1812.062560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.584437 # Actual altitude: 58.584437 # Commanded vehicle depth: 1812.06256 # Seafloor depth: -1870.646997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.656636 meters # Minimum depth: 1845.474844 meters looking forward 100.000000 meters along route # Maximum depth: 1862.287942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.474844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113490; longitude = -129.950393; duration = 406; initialDepth = 1795.170601; finalDepth = 1795.474844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8130979999999 # Actual altitude: 66.8130979999999 # Commanded vehicle depth: 1795.474844 # Seafloor depth: -1862.287942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.656283 meters # Minimum depth: 1845.170601 meters looking forward 100.000000 meters along route # Maximum depth: 1849.334602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.170601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114287; longitude = -129.949746; duration = 406; initialDepth = 1796.119948; finalDepth = 1795.170601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8130979999999 # Actual altitude: 66.8130979999999 # Commanded vehicle depth: 1795.170601 # Seafloor depth: -1846.551927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.655930 meters # Minimum depth: 1846.119948 meters looking forward 100.000000 meters along route # Maximum depth: 1849.000088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.119948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115083; longitude = -129.949099; duration = 406; initialDepth = 1783.082058; finalDepth = 1796.119948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.722798 # Actual altitude: 51.722798 # Commanded vehicle depth: 1796.119948 # Seafloor depth: -1847.842746 # 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 5 # Segment length 101.655577 meters # Minimum depth: 1833.082058 meters looking forward 100.000000 meters along route # Maximum depth: 1847.320128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.082058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115880; longitude = -129.948451; duration = 406; initialDepth = 1762.957112; finalDepth = 1783.082058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8664920000001 # Actual altitude: 63.8664920000001 # Commanded vehicle depth: 1783.082058 # Seafloor depth: -1846.948550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.655224 meters # Minimum depth: 1812.957112 meters looking forward 100.000000 meters along route # Maximum depth: 1830.144134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.957112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116676; longitude = -129.947804; duration = 406; initialDepth = 1766.055796; finalDepth = 1762.957112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1870219999998 # Actual altitude: 67.1870219999998 # Commanded vehicle depth: 1762.957112 # Seafloor depth: -1830.144134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.654870 meters # Minimum depth: 1816.055796 meters looking forward 100.000000 meters along route # Maximum depth: 1827.651489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.055796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117473; longitude = -129.947157; duration = 406; initialDepth = 1762.951935; finalDepth = 1766.055796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1870219999998 # Actual altitude: 67.1870219999998 # Commanded vehicle depth: 1766.055796 # Seafloor depth: -1816.055796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.654518 meters # Minimum depth: 1812.951935 meters looking forward 100.000000 meters along route # Maximum depth: 1828.439707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.951935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118269; longitude = -129.946510; duration = 406; initialDepth = 1766.803601; finalDepth = 1762.951935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5718829999998 # Actual altitude: 63.5718829999998 # Commanded vehicle depth: 1762.951935 # Seafloor depth: -1826.523818 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.213776 meters # Minimum depth: 1816.803601 meters looking forward 100.000000 meters along route # Maximum depth: 1843.252084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.803601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119066; longitude = -129.945863; duration = 408; initialDepth = 1793.268599; finalDepth = 1766.803601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5718829999998 # Actual altitude: 63.5718829999998 # Commanded vehicle depth: 1766.803601 # Seafloor depth: -1816.803601 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.094200 meters # Minimum depth: 1843.268599 meters looking forward 100.000000 meters along route # Maximum depth: 1872.922030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.268599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119866; longitude = -129.945212; duration = 404; initialDepth = 1819.243226; finalDepth = 1793.268599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1793.268599 # Seafloor depth: -1843.268599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 105.416557 meters # Minimum depth: 1869.243226 meters looking forward 100.000000 meters along route # Maximum depth: 1874.895660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.243226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120659; longitude = -129.944568; duration = 421; initialDepth = 1815.851729; finalDepth = 1819.243226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.419165 # Actual altitude: 51.419165 # Commanded vehicle depth: 1819.243226 # Seafloor depth: -1870.662391 # 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 5 # Segment length 104.595318 meters # Minimum depth: 1865.851729 meters looking forward 100.000000 meters along route # Maximum depth: 1881.061388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.851729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121484; longitude = -129.943897; duration = 418; initialDepth = 1810.354196; finalDepth = 1815.851729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.650099 # Actual altitude: 54.650099 # Commanded vehicle depth: 1815.851729 # Seafloor depth: -1870.501828 # 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; } # ####################################################### # # 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 140.103964 meters # Minimum depth: 1860.354196 meters looking forward 100.000000 meters along route # Maximum depth: 1882.077911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.354196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122304; longitude = -129.943231; duration = 560; # abortOnTimeout = True; initialDepth = 1810.717102; finalDepth = 1810.354196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 71.7237150000001 # Actual altitude: 71.7237150000001 # Commanded vehicle depth: 1810.354196 # Seafloor depth: -1882.077911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.03; 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 3 # Segment length 85.297989 meters # Minimum depth: 1860.717102 meters looking forward 100.000000 meters along route # Maximum depth: 1873.458346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.717102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122930; longitude = -129.944805; duration = 341; # abortOnTimeout = True; initialDepth = 1811.914996; finalDepth = 1810.717102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.7237150000001 # Actual altitude: 71.7237150000001 # Commanded vehicle depth: 1810.717102 # Seafloor depth: -1860.717102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.604397 meters # Minimum depth: 1861.914996 meters looking forward 100.000000 meters along route # Maximum depth: 1878.745283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.914996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.122261; longitude = -129.945347; duration = 406; initialDepth = 1790.872664; finalDepth = 1811.914996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.680924 # Actual altitude: 61.680924 # Commanded vehicle depth: 1811.914996 # Seafloor depth: -1873.595920 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.909256 meters # Minimum depth: 1840.872664 meters looking forward 100.000000 meters along route # Maximum depth: 1860.758287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.872664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.121464; longitude = -129.945992; duration = 407; initialDepth = 1786.352287; finalDepth = 1790.872664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.8856230000001 # Actual altitude: 69.8856230000001 # Commanded vehicle depth: 1790.872664 # Seafloor depth: -1860.758287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.909609 meters # Minimum depth: 1836.352287 meters looking forward 100.000000 meters along route # Maximum depth: 1842.614118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.352287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.120665; longitude = -129.946639; duration = 407; initialDepth = 1779.772965; finalDepth = 1786.352287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.8856230000001 # Actual altitude: 69.8856230000001 # Commanded vehicle depth: 1786.352287 # Seafloor depth: -1840.387263 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.909962 meters # Minimum depth: 1829.772965 meters looking forward 100.000000 meters along route # Maximum depth: 1842.478198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.772965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119866; longitude = -129.947286; duration = 407; initialDepth = 1789.034612; finalDepth = 1779.772965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5606889999999 # Actual altitude: 56.5606889999999 # Commanded vehicle depth: 1779.772965 # Seafloor depth: -1836.333654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.910315 meters # Minimum depth: 1839.034612 meters looking forward 100.000000 meters along route # Maximum depth: 1845.215920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.034612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.119067; longitude = -129.947934; duration = 407; initialDepth = 1791.163562; finalDepth = 1789.034612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5606889999999 # Actual altitude: 56.5606889999999 # Commanded vehicle depth: 1789.034612 # Seafloor depth: -1841.684084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.910669 meters # Minimum depth: 1841.163562 meters looking forward 100.000000 meters along route # Maximum depth: 1844.063547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.163562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.118268; longitude = -129.948581; duration = 407; initialDepth = 1793.519245; finalDepth = 1791.163562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6494720000001 # Actual altitude: 52.6494720000001 # Commanded vehicle depth: 1791.163562 # Seafloor depth: -1842.103213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.911022 meters # Minimum depth: 1843.519245 meters looking forward 100.000000 meters along route # Maximum depth: 1846.860823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.519245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.117469; longitude = -129.949228; duration = 407; initialDepth = 1795.244287; finalDepth = 1793.519245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9396510000001 # Actual altitude: 50.9396510000001 # Commanded vehicle depth: 1793.519245 # Seafloor depth: -1843.519245 # 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 3 # Segment length 101.911376 meters # Minimum depth: 1845.244287 meters looking forward 100.000000 meters along route # Maximum depth: 1847.366158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.244287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.116670; longitude = -129.949875; duration = 407; initialDepth = 1793.086129; finalDepth = 1795.244287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.165927 # Actual altitude: 51.165927 # Commanded vehicle depth: 1795.244287 # Seafloor depth: -1846.410214 # 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 3 # Segment length 101.911729 meters # Minimum depth: 1843.086129 meters looking forward 100.000000 meters along route # Maximum depth: 1851.061199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.086129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115871; longitude = -129.950523; duration = 407; initialDepth = 1793.764203; finalDepth = 1793.086129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.752702 # Actual altitude: 53.752702 # Commanded vehicle depth: 1793.086129 # Seafloor depth: -1846.838831 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.912082 meters # Minimum depth: 1843.764203 meters looking forward 100.000000 meters along route # Maximum depth: 1848.777705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.764203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.115071; longitude = -129.951170; duration = 407; initialDepth = 1795.081574; finalDepth = 1793.764203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.752702 # Actual altitude: 53.752702 # Commanded vehicle depth: 1793.764203 # Seafloor depth: -1843.764203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.734039 meters # Minimum depth: 1845.081574 meters looking forward 100.000000 meters along route # Maximum depth: 1849.682693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.081574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.114272; longitude = -129.951817; duration = 414; initialDepth = 1794.864360; finalDepth = 1795.081574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.081574 # Seafloor depth: -1845.081574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.091185 meters # Minimum depth: 1844.864360 meters looking forward 100.000000 meters along route # Maximum depth: 1848.985758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.864360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.113459; longitude = -129.952476; duration = 400; initialDepth = 1797.078838; finalDepth = 1794.864360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9366729999999 # Actual altitude: 53.9366729999999 # Commanded vehicle depth: 1794.86436 # Seafloor depth: -1848.801033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.913142 meters # Minimum depth: 1847.078838 meters looking forward 100.000000 meters along route # Maximum depth: 1864.582998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.078838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.112674; longitude = -129.953111; duration = 407; initialDepth = 1815.777604; finalDepth = 1797.078838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9366729999999 # Actual altitude: 53.9366729999999 # Commanded vehicle depth: 1797.078838 # Seafloor depth: -1848.723546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.398494 meters # Minimum depth: 1865.777604 meters looking forward 100.000000 meters along route # Maximum depth: 1879.744961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.777604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111875; longitude = -129.953759; duration = 413; initialDepth = 1819.881730; finalDepth = 1815.777604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.644708 # Actual altitude: 51.644708 # Commanded vehicle depth: 1815.777604 # Seafloor depth: -1865.777604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.428851 meters # Minimum depth: 1869.881730 meters looking forward 100.000000 meters along route # Maximum depth: 1874.252782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.881730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.111064; longitude = -129.954415; duration = 401; initialDepth = 1815.466628; finalDepth = 1819.881730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.836875 # Actual altitude: 53.836875 # Commanded vehicle depth: 1819.88173 # Seafloor depth: -1873.718605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.914202 meters # Minimum depth: 1865.466628 meters looking forward 100.000000 meters along route # Maximum depth: 1872.544674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.466628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.110277; longitude = -129.955053; duration = 407; initialDepth = 1814.228249; finalDepth = 1815.466628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.589549 # Actual altitude: 56.589549 # Commanded vehicle depth: 1815.466628 # Seafloor depth: -1872.056177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.062942 meters # Minimum depth: 1864.228249 meters looking forward 100.000000 meters along route # Maximum depth: 1865.772670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.228249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.109478; longitude = -129.955700; duration = 412; initialDepth = 1813.861958; finalDepth = 1814.228249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.589549 # Actual altitude: 56.589549 # Commanded vehicle depth: 1814.228249 # Seafloor depth: -1865.552754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.766522 meters # Minimum depth: 1863.861958 meters looking forward 100.000000 meters along route # Maximum depth: 1866.052565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.861958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.108670; longitude = -129.956355; duration = 403; initialDepth = 1813.192244; finalDepth = 1813.861958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5564460000001 # Actual altitude: 51.5564460000001 # Commanded vehicle depth: 1813.861958 # Seafloor depth: -1865.418404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.915263 meters # Minimum depth: 1863.192244 meters looking forward 100.000000 meters along route # Maximum depth: 1868.291499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.192244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107879; longitude = -129.956995; duration = 407; initialDepth = 1819.344039; finalDepth = 1813.192244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5564460000001 # Actual altitude: 51.5564460000001 # Commanded vehicle depth: 1813.192244 # Seafloor depth: -1863.538227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.727382 meters # Minimum depth: 1869.344039 meters looking forward 100.000000 meters along route # Maximum depth: 1875.058833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.344039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.107080; longitude = -129.957642; duration = 410; initialDepth = 1815.195835; finalDepth = 1819.344039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3459829999999 # Actual altitude: 50.3459829999999 # Commanded vehicle depth: 1819.344039 # Seafloor depth: -1869.344039 # 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 3 # Segment length 101.104203 meters # Minimum depth: 1865.195835 meters looking forward 100.000000 meters along route # Maximum depth: 1876.260871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.195835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.106275; longitude = -129.958294; duration = 404; initialDepth = 1813.386809; finalDepth = 1815.195835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.87844 # Actual altitude: 59.87844 # Commanded vehicle depth: 1815.195835 # Seafloor depth: -1875.074275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.916322 meters # Minimum depth: 1863.386809 meters looking forward 100.000000 meters along route # Maximum depth: 1867.097783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.386809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.105482; longitude = -129.958936; duration = 407; initialDepth = 1801.583427; finalDepth = 1813.386809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.87844 # Actual altitude: 59.87844 # Commanded vehicle depth: 1813.386809 # Seafloor depth: -1864.975071 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.391817 meters # Minimum depth: 1851.583427 meters looking forward 100.000000 meters along route # Maximum depth: 1867.706581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.583427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.104683; longitude = -129.959584; duration = 409; initialDepth = 1775.332418; finalDepth = 1801.583427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.442775 # Actual altitude: 65.442775 # Commanded vehicle depth: 1801.583427 # Seafloor depth: -1867.026202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 39.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.441889 meters # Minimum depth: 1825.332418 meters looking forward 100.000000 meters along route # Maximum depth: 1851.496103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.332418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103880; longitude = -129.960234; duration = 405; initialDepth = 1774.937390; finalDepth = 1775.332418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.163685 # Actual altitude: 76.163685 # Commanded vehicle depth: 1775.332418 # Seafloor depth: -1851.496103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.917382 meters # Minimum depth: 1824.937390 meters looking forward 100.000000 meters along route # Maximum depth: 1833.104421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.937390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.103085; longitude = -129.960878; duration = 407; initialDepth = 1775.084226; finalDepth = 1774.937390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.163685 # Actual altitude: 76.163685 # Commanded vehicle depth: 1774.93739 # Seafloor depth: -1825.242589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.056244 meters # Minimum depth: 1825.084226 meters looking forward 100.000000 meters along route # Maximum depth: 1834.131623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.084226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.102286; longitude = -129.961525; duration = 408; initialDepth = 1776.623628; finalDepth = 1775.084226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2861370000001 # Actual altitude: 58.2861370000001 # Commanded vehicle depth: 1775.084226 # Seafloor depth: -1833.370363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.779582 meters # Minimum depth: 1826.623628 meters looking forward 100.000000 meters along route # Maximum depth: 1831.502656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.623628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.101485; longitude = -129.962173; duration = 407; initialDepth = 1772.478254; finalDepth = 1776.623628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2861370000001 # Actual altitude: 58.2861370000001 # Commanded vehicle depth: 1776.623628 # Seafloor depth: -1826.623628 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.918443 meters # Minimum depth: 1822.478254 meters looking forward 100.000000 meters along route # Maximum depth: 1830.725942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.478254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.100687; longitude = -129.962820; duration = 407; initialDepth = 1771.792181; finalDepth = 1772.478254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2476879999999 # Actual altitude: 58.2476879999999 # Commanded vehicle depth: 1772.478254 # Seafloor depth: -1830.725942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.918797 meters # Minimum depth: 1821.792181 meters looking forward 100.000000 meters along route # Maximum depth: 1832.977146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.792181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099888; longitude = -129.963467; duration = 407; initialDepth = 1780.202519; finalDepth = 1771.792181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2476879999999 # Actual altitude: 58.2476879999999 # Commanded vehicle depth: 1771.792181 # Seafloor depth: -1821.792181 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.919150 meters # Minimum depth: 1830.202519 meters looking forward 100.000000 meters along route # Maximum depth: 1834.570560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.202519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.099089; longitude = -129.964114; duration = 407; initialDepth = 1771.080337; finalDepth = 1780.202519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7940410000001 # Actual altitude: 52.7940410000001 # Commanded vehicle depth: 1780.202519 # Seafloor depth: -1832.996560 # 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 3 # Segment length 101.919503 meters # Minimum depth: 1821.080337 meters looking forward 100.000000 meters along route # Maximum depth: 1835.199424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.080337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.098290; longitude = -129.964761; duration = 407; initialDepth = 1768.590461; finalDepth = 1771.080337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.119461 # Actual altitude: 63.119461 # Commanded vehicle depth: 1771.080337 # Seafloor depth: -1834.199798 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.919857 meters # Minimum depth: 1818.590461 meters looking forward 100.000000 meters along route # Maximum depth: 1822.314100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.590461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.097491; longitude = -129.965409; duration = 407; initialDepth = 1767.700997; finalDepth = 1768.590461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.119461 # Actual altitude: 63.119461 # Commanded vehicle depth: 1768.590461 # Seafloor depth: -1820.028584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.920211 meters # Minimum depth: 1817.700997 meters looking forward 100.000000 meters along route # Maximum depth: 1826.535234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.700997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.096692; longitude = -129.966056; duration = 407; initialDepth = 1771.004419; finalDepth = 1767.700997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4381229999999 # Actual altitude: 51.4381229999999 # Commanded vehicle depth: 1767.700997 # Seafloor depth: -1818.928043 # 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 3 # Segment length 101.920563 meters # Minimum depth: 1821.004419 meters looking forward 100.000000 meters along route # Maximum depth: 1825.778727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.004419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095893; longitude = -129.966703; duration = 407; initialDepth = 1769.437278; finalDepth = 1771.004419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.089614 # Actual altitude: 54.089614 # Commanded vehicle depth: 1771.004419 # Seafloor depth: -1825.094033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.920918 meters # Minimum depth: 1819.437278 meters looking forward 100.000000 meters along route # Maximum depth: 1824.092852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.437278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.095094; longitude = -129.967350; duration = 407; initialDepth = 1745.020917; finalDepth = 1769.437278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.089614 # Actual altitude: 54.089614 # Commanded vehicle depth: 1769.437278 # Seafloor depth: -1819.869072 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.921271 meters # Minimum depth: 1795.020917 meters looking forward 100.000000 meters along route # Maximum depth: 1821.734014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.020917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.094294; longitude = -129.967997; duration = 407; initialDepth = 1735.974532; finalDepth = 1745.020917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7130969999998 # Actual altitude: 76.7130969999998 # Commanded vehicle depth: 1745.020917 # Seafloor depth: -1821.734014 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.577360 meters # Minimum depth: 1785.974532 meters looking forward 100.000000 meters along route # Maximum depth: 1796.041385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.974532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.093495; longitude = -129.968645; duration = 414; initialDepth = 1735.853594; finalDepth = 1735.974532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7130969999998 # Actual altitude: 76.7130969999998 # Commanded vehicle depth: 1735.974532 # Seafloor depth: -1796.041385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 46.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.266242 meters # Minimum depth: 1785.853594 meters looking forward 100.000000 meters along route # Maximum depth: 1790.383895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.853594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.092683; longitude = -129.969302; duration = 401; initialDepth = 1733.643558; finalDepth = 1735.853594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.066853 # Actual altitude: 60.066853 # Commanded vehicle depth: 1735.853594 # Seafloor depth: -1785.853594 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.922331 meters # Minimum depth: 1783.643558 meters looking forward 100.000000 meters along route # Maximum depth: 1789.370840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.643558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091897; longitude = -129.969939; duration = 407; initialDepth = 1726.099294; finalDepth = 1733.643558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7272820000001 # Actual altitude: 55.7272820000001 # Commanded vehicle depth: 1733.643558 # Seafloor depth: -1789.370840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.241784 meters # Minimum depth: 1776.099294 meters looking forward 100.000000 meters along route # Maximum depth: 1784.048426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.099294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.091098; longitude = -129.970586; duration = 412; initialDepth = 1725.806316; finalDepth = 1726.099294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.746993 # Actual altitude: 57.746993 # Commanded vehicle depth: 1726.099294 # Seafloor depth: -1783.846287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.603939 meters # Minimum depth: 1775.806316 meters looking forward 100.000000 meters along route # Maximum depth: 1778.685517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.806316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.090289; longitude = -129.971242; duration = 402; initialDepth = 1727.732760; finalDepth = 1725.806316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.746993 # Actual altitude: 57.746993 # Commanded vehicle depth: 1725.806316 # Seafloor depth: -1775.806316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.923392 meters # Minimum depth: 1777.732760 meters looking forward 100.000000 meters along route # Maximum depth: 1779.011575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.732760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.089500; longitude = -129.971881; duration = 407; initialDepth = 1728.331754; finalDepth = 1727.732760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.73276 # Seafloor depth: -1777.732760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.906200 meters # Minimum depth: 1778.331754 meters looking forward 100.000000 meters along route # Maximum depth: 1780.055859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.331754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.088701; longitude = -129.972528; duration = 411; initialDepth = 1727.020672; finalDepth = 1728.331754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5028319999999 # Actual altitude: 50.5028319999999 # Commanded vehicle depth: 1728.331754 # Seafloor depth: -1778.834586 # 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 3 # Segment length 100.941645 meters # Minimum depth: 1777.020672 meters looking forward 100.000000 meters along route # Maximum depth: 1781.357341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.020672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087894; longitude = -129.973181; duration = 403; initialDepth = 1703.642454; finalDepth = 1727.020672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.895865 # Actual altitude: 52.895865 # Commanded vehicle depth: 1727.020672 # Seafloor depth: -1779.916537 # 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 3 # Segment length 105.434160 meters # Minimum depth: 1753.642454 meters looking forward 100.000000 meters along route # Maximum depth: 1777.289199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.642454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.087102; longitude = -129.973822; duration = 421; initialDepth = 1694.684715; finalDepth = 1703.642454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.646745 # Actual altitude: 73.646745 # Commanded vehicle depth: 1703.642454 # Seafloor depth: -1777.289199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.812598 meters # Minimum depth: 1744.684715 meters looking forward 100.000000 meters along route # Maximum depth: 1752.945685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.684715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.086276; longitude = -129.974492; duration = 407; initialDepth = 1676.513238; finalDepth = 1694.684715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 73.646745 # Actual altitude: 73.646745 # Commanded vehicle depth: 1694.684715 # Seafloor depth: -1752.945685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 165.192105 meters # Minimum depth: 1726.513238 meters looking forward 100.000000 meters along route # Maximum depth: 1747.612956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.513238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.085478; longitude = -129.975138; duration = 660; # abortOnTimeout = True; initialDepth = 1673.411716; finalDepth = 1676.513238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 71.0997179999999 # Actual altitude: 71.0997179999999 # Commanded vehicle depth: 1676.513238 # Seafloor depth: -1747.612956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 88.322318 meters # Minimum depth: 1723.411716 meters looking forward 100.000000 meters along route # Maximum depth: 1727.532780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.411716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.084507; longitude = -129.976756; duration = 353; # abortOnTimeout = True; initialDepth = 1673.828124; finalDepth = 1673.411716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.0997179999999 # Actual altitude: 71.0997179999999 # Commanded vehicle depth: 1673.411716 # Seafloor depth: -1726.955404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 42.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.910696 meters # Minimum depth: 1723.828124 meters looking forward 100.000000 meters along route # Maximum depth: 1725.946461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.828124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083814; longitude = -129.977317; duration = 407; initialDepth = 1673.446789; finalDepth = 1673.828124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.543688 # Actual altitude: 53.543688 # Commanded vehicle depth: 1673.828124 # Seafloor depth: -1724.125235 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.911051 meters # Minimum depth: 1723.446789 meters looking forward 100.000000 meters along route # Maximum depth: 1727.647248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.446789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.083015; longitude = -129.977965; duration = 407; initialDepth = 1667.970614; finalDepth = 1673.446789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8665589999998 # Actual altitude: 50.8665589999998 # Commanded vehicle depth: 1673.446789 # Seafloor depth: -1724.313348 # 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 1 # Segment length 101.911403 meters # Minimum depth: 1717.970614 meters looking forward 100.000000 meters along route # Maximum depth: 1730.721120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.970614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.082216; longitude = -129.978612; duration = 407; initialDepth = 1676.966562; finalDepth = 1667.970614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8344219999999 # Actual altitude: 58.8344219999999 # Commanded vehicle depth: 1667.970614 # Seafloor depth: -1726.805036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.911758 meters # Minimum depth: 1726.966562 meters looking forward 100.000000 meters along route # Maximum depth: 1730.239336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.966562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.081417; longitude = -129.979259; duration = 407; initialDepth = 1675.951712; finalDepth = 1676.966562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8344219999999 # Actual altitude: 58.8344219999999 # Commanded vehicle depth: 1676.966562 # Seafloor depth: -1730.239336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.912110 meters # Minimum depth: 1725.951712 meters looking forward 100.000000 meters along route # Maximum depth: 1728.708784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.951712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.080618; longitude = -129.979906; duration = 407; initialDepth = 1676.385115; finalDepth = 1675.951712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.272774 # Actual altitude: 53.272774 # Commanded vehicle depth: 1675.951712 # Seafloor depth: -1727.392750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.912465 meters # Minimum depth: 1726.385115 meters looking forward 100.000000 meters along route # Maximum depth: 1728.659451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.385115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079820; longitude = -129.980553; duration = 407; initialDepth = 1678.590034; finalDepth = 1676.385115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4410379999999 # Actual altitude: 51.4410379999999 # Commanded vehicle depth: 1676.385115 # Seafloor depth: -1726.720575 # 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 1 # Segment length 101.912818 meters # Minimum depth: 1728.590034 meters looking forward 100.000000 meters along route # Maximum depth: 1731.997318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.590034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.079021; longitude = -129.981201; duration = 407; initialDepth = 1679.541049; finalDepth = 1678.590034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.33546 # Actual altitude: 50.33546 # Commanded vehicle depth: 1678.590034 # Seafloor depth: -1728.590034 # 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 1 # Segment length 103.664396 meters # Minimum depth: 1729.541049 meters looking forward 100.000000 meters along route # Maximum depth: 1736.332857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.541049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.078222; longitude = -129.981848; duration = 414; initialDepth = 1679.089255; finalDepth = 1679.541049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9428950000001 # Actual altitude: 50.9428950000001 # Commanded vehicle depth: 1679.541049 # Seafloor depth: -1730.483944 # 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 1 # Segment length 100.162301 meters # Minimum depth: 1729.089255 meters looking forward 100.000000 meters along route # Maximum depth: 1734.589881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.089255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.077409; longitude = -129.982506; duration = 400; initialDepth = 1679.293377; finalDepth = 1679.089255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.500626 # Actual altitude: 55.500626 # Commanded vehicle depth: 1679.089255 # Seafloor depth: -1734.589881 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.913879 meters # Minimum depth: 1729.293377 meters looking forward 100.000000 meters along route # Maximum depth: 1739.177180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.293377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.076624; longitude = -129.983142; duration = 407; initialDepth = 1689.193296; finalDepth = 1679.293377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.500626 # Actual altitude: 55.500626 # Commanded vehicle depth: 1679.293377 # Seafloor depth: -1729.293377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.388963 meters # Minimum depth: 1739.193296 meters looking forward 100.000000 meters along route # Maximum depth: 1756.057038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.193296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075825; longitude = -129.983790; duration = 413; initialDepth = 1702.989042; finalDepth = 1689.193296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1689.193296 # Seafloor depth: -1739.193296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.439855 meters # Minimum depth: 1752.989042 meters looking forward 100.000000 meters along route # Maximum depth: 1757.170027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.989042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.075014; longitude = -129.984446; duration = 401; initialDepth = 1701.807923; finalDepth = 1702.989042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2444350000001 # Actual altitude: 53.2444350000001 # Commanded vehicle depth: 1702.989042 # Seafloor depth: -1756.233477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.914940 meters # Minimum depth: 1751.807923 meters looking forward 100.000000 meters along route # Maximum depth: 1755.183947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.807923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.074227; longitude = -129.985084; duration = 407; initialDepth = 1703.879655; finalDepth = 1701.807923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2444350000001 # Actual altitude: 53.2444350000001 # Commanded vehicle depth: 1701.807923 # Seafloor depth: -1752.912171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 103.113525 meters # Minimum depth: 1753.879655 meters looking forward 100.000000 meters along route # Maximum depth: 1755.080240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.879655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.073428; longitude = -129.985731; duration = 412; initialDepth = 1680.685011; finalDepth = 1703.879655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1042479999999 # Actual altitude: 51.1042479999999 # Commanded vehicle depth: 1703.879655 # Seafloor depth: -1754.732261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.717416 meters # Minimum depth: 1730.685011 meters looking forward 100.000000 meters along route # Maximum depth: 1754.125151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.685011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.072619; longitude = -129.986386; duration = 402; initialDepth = 1654.738920; finalDepth = 1680.685011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.4401399999999 # Actual altitude: 73.4401399999999 # Commanded vehicle depth: 1680.685011 # Seafloor depth: -1754.125151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.916000 meters # Minimum depth: 1704.738920 meters looking forward 100.000000 meters along route # Maximum depth: 1730.415143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.738920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071830; longitude = -129.987026; duration = 407; initialDepth = 1632.429162; finalDepth = 1654.738920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3895709999999 # Actual altitude: 75.3895709999999 # Commanded vehicle depth: 1654.73892 # Seafloor depth: -1730.128491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.838080 meters # Minimum depth: 1682.429162 meters looking forward 100.000000 meters along route # Maximum depth: 1704.877546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.429162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.071031; longitude = -129.987673; duration = 411; initialDepth = 1632.750524; finalDepth = 1632.429162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3895709999999 # Actual altitude: 75.3895709999999 # Commanded vehicle depth: 1632.429162 # Seafloor depth: -1704.877546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 45.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.994983 meters # Minimum depth: 1682.750524 meters looking forward 100.000000 meters along route # Maximum depth: 1739.225440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.750524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.070225; longitude = -129.988326; duration = 403; initialDepth = 1669.509691; finalDepth = 1632.750524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.448384 # Actual altitude: 72.448384 # Commanded vehicle depth: 1632.750524 # Seafloor depth: -1682.750524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.406476 meters # Minimum depth: 1739.174151 meters looking forward 100.000000 meters along route # Maximum depth: 1743.769152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.509691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.069433; longitude = -129.988967; duration = 421; initialDepth = 1684.860891; finalDepth = 1669.509691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6644600588111 # Actual altitude: 69.6644600588111 # Commanded vehicle depth: 1669.50969094119 # Seafloor depth: -1739.174151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.825254 meters # Minimum depth: 1734.860891 meters looking forward 100.000000 meters along route # Maximum depth: 1740.431177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1968.298487 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.860891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 46.068607; longitude = -129.989637; duration = 407; initialDepth = 1684.860891; finalDepth = 1684.860891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.6644600588111 # Actual altitude: 69.6644600588111 # Commanded vehicle depth: 1684.860891 # Seafloor depth: -1740.049542 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 55.1886509999999 # Sonar parameter altitude: 55.1886509999999 # Commanded vehicle depth: 1684.860891 # Seafloor depth: -1736.706380 # 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 = 33.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 101.825254 meters # Minimum depth: 1734.860891 meters looking forward 100.000000 meters along route # Maximum depth: 1740.431177 meters looking forward 100.000000 meters along route # Vehicle depth: 1684.860891 meters behavior waypoint { latitude = 46.067808; longitude = -129.990283; duration = 3369; depth = 1684.860891; 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 1684.860891 meters set by local depth and desired altitude behavior descend { duration = 6240; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1676.706380; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 101.825254 meters # Minimum depth: 1734.860891 meters looking forward 100.000000 meters along route # Maximum depth: 1740.431177 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 46.067808; longitude = -129.990283; duration = 2000; depth = 50.000000; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 240.0; 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 = 240.0; 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; } # ####################################################### ####################################################### ####################################################### #######################################################